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BSD 3-Clause License BSD 3-Clause License
Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
All rights reserved. All rights reserved.
Redistribution and use in source and binary forms, with or without Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met: modification, are permitted provided that the following conditions are met:
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# unitree_sdk2_python # unitree_sdk2_python
unitree_sdk2 python 接口 unitree_sdk2 python 接口
# 安装 # 安装
## 依赖 ## 依赖
- python>=3.8,<3.11 - python>=3.8,<3.11
- cyclonedds==0.10.2 - cyclonedds==0.10.2
- numpy - numpy
- opencv-python - opencv-python
## 安装 unitree_sdk2_python ## 安装 unitree_sdk2_python
在终端中执行： 在终端中执行：
```bash ```bash
cd ~ cd ~
sudo apt install python3-pip sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python cd unitree_sdk2_python
pip3 install -e . pip3 install -e .
``` ```
## FAQ ## FAQ
##### 1. `pip3 install -e .` 遇到报错 ##### 1. `pip3 install -e .` 遇到报错
```bash ```bash
Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH
``` ```
该错误提示找不到 cyclonedds 路径。首先编译安装cyclonedds： 该错误提示找不到 cyclonedds 路径。首先编译安装cyclonedds：
```bash ```bash
cd ~ cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install cmake --build . --target install
``` ```
进入 unitree_sdk2_python 目录，设置 `CYCLONEDDS_HOME` 为刚刚编译好的 cyclonedds 所在路径，再安装 unitree_sdk2_python 进入 unitree_sdk2_python 目录，设置 `CYCLONEDDS_HOME` 为刚刚编译好的 cyclonedds 所在路径，再安装 unitree_sdk2_python
```bash ```bash
cd ~/unitree_sdk2_python cd ~/unitree_sdk2_python
export CYCLONEDDS_HOME="~/cyclonedds/install" export CYCLONEDDS_HOME="~/cyclonedds/install"
pip3 install -e . pip3 install -e .
``` ```
详细见： 详细见：
https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries
# 使用 # 使用
python sdk2 接口与 unitree_skd2的接口保持一致，通过请求响应或订阅发布topic实现机器人的状态获取和控制。相应的例程位于`/example`目录下。在运行例程前，需要根据文档 https://support.unitree.com/home/zh/developer/Quick_start 配置好机器人的网络连接。 python sdk2 接口与 unitree_skd2的接口保持一致，通过请求响应或订阅发布topic实现机器人的状态获取和控制。相应的例程位于`/example`目录下。在运行例程前，需要根据文档 https://support.unitree.com/home/zh/developer/Quick_start 配置好机器人的网络连接。
## DDS通讯 ## DDS通讯
在终端中执行： 在终端中执行：
```bash ```bash
python3 ./example/helloworld/publisher.py python3 ./example/helloworld/publisher.py
``` ```
打开新的终端，执行： 打开新的终端，执行：
```bash ```bash
python3 ./example/helloworld/subscriber.py python3 ./example/helloworld/subscriber.py
``` ```
可以看到终端输出的数据信息。`publisher.py` 和 `subscriber.py` 传输的数据定义在 `user_data.py` 中，用户可以根据需要自行定义需要传输的数据结构。 可以看到终端输出的数据信息。`publisher.py` 和 `subscriber.py` 传输的数据定义在 `user_data.py` 中，用户可以根据需要自行定义需要传输的数据结构。
## 高层状态和控制 ## 高层状态和控制
高层接口的数据结构和控制方式与unitree_sdk2一致。具体可见：https://support.unitree.com/home/zh/developer/sports_services 高层接口的数据结构和控制方式与unitree_sdk2一致。具体可见：https://support.unitree.com/home/zh/developer/sports_services
### 高层状态 ### 高层状态
终端中执行： 终端中执行：
```bash ```bash
python3 ./example/high_level/read_highstate.py enp2s0 python3 ./example/high_level/read_highstate.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。
### 高层控制 ### 高层控制
终端中执行： 终端中执行：
```bash ```bash
python3 ./example/high_level/sportmode_test.py enp2s0 python3 ./example/high_level/sportmode_test.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。
该例程提供了几种测试方法，可根据测试需要选择: 该例程提供了几种测试方法，可根据测试需要选择:
```python ```python
test.StandUpDown() # 站立趴下 test.StandUpDown() # 站立趴下
# test.VelocityMove() # 速度控制 # test.VelocityMove() # 速度控制
# test.BalanceAttitude() # 姿态控制 # test.BalanceAttitude() # 姿态控制
# test.TrajectoryFollow() # 轨迹跟踪 # test.TrajectoryFollow() # 轨迹跟踪
# test.SpecialMotions() # 特殊动作 # test.SpecialMotions() # 特殊动作
``` ```
## 底层状态和控制 ## 底层状态和控制
底层接口的数据结构和控制方式与unitree_sdk2一致。具体可见：https://support.unitree.com/home/zh/developer/Basic_services 底层接口的数据结构和控制方式与unitree_sdk2一致。具体可见：https://support.unitree.com/home/zh/developer/Basic_services
### 底层状态 ### 底层状态
终端中执行： 终端中执行：
```bash ```bash
python3 ./example/low_level/lowlevel_control.py enp2s0 python3 ./example/low_level/lowlevel_control.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。程序会输出右前腿hip关节的状态、IMU和电池电压信息。 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。程序会输出右前腿hip关节的状态、IMU和电池电压信息。
### 底层电机控制 ### 底层电机控制
首先使用 app 关闭高层运动服务(sport_mode)，否则会导致指令冲突。 首先使用 app 关闭高层运动服务(sport_mode)，否则会导致指令冲突。
终端中执行： 终端中执行：
```bash ```bash
python3 ./example/low_level/lowlevel_control.py enp2s0 python3 ./example/low_level/lowlevel_control.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。左后腿 hip 关节会保持在0角度 (安全起见，这里设置 kp=10, kd=1)，左后腿 calf 关节将持续输出 1Nm 的转矩。 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。左后腿 hip 关节会保持在0角度 (安全起见，这里设置 kp=10, kd=1)，左后腿 calf 关节将持续输出 1Nm 的转矩。
## 遥控器状态获取 ## 遥控器状态获取
终端中执行： 终端中执行：
```bash ```bash
python3 ./example/wireless_controller/wireless_controller.py enp2s0 python3 ./example/wireless_controller/wireless_controller.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。
终端将输出每一个按键的状态。对于遥控器按键的定义和数据结构可见： https://support.unitree.com/home/zh/developer/Get_remote_control_status 终端将输出每一个按键的状态。对于遥控器按键的定义和数据结构可见： https://support.unitree.com/home/zh/developer/Get_remote_control_status
## 前置摄像头 ## 前置摄像头
使用opencv获取前置摄像头(确保在有图形界面的系统下运行, 按 ESC 退出程序): 使用opencv获取前置摄像头(确保在有图形界面的系统下运行, 按 ESC 退出程序):
```bash ```bash
python3 ./example/front_camera/camera_opencv.py enp2s0 python3 ./example/front_camera/camera_opencv.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。
## 避障开关 ## 避障开关
```bash ```bash
python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0 python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。机器人将循环开启和关闭避障功能。关于避障服务，详细见 https://support.unitree.com/home/zh/developer/ObstaclesAvoidClient 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。机器人将循环开启和关闭避障功能。关于避障服务，详细见 https://support.unitree.com/home/zh/developer/ObstaclesAvoidClient
## 灯光音量控制 ## 灯光音量控制
```bash ```bash
python3 ./example/vui_client/vui_client_example.py enp2s0 python3 ./example/vui_client/vui_client_example.py enp2s0
``` ```
其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。机器人将循环调节音量和灯光亮度。该接口详细见 https://support.unitree.com/home/zh/developer/VuiClient 其中 `enp2s0` 为机器人所连接的网卡名称，请根据实际情况修改。机器人将循环调节音量和灯光亮度。该接口详细见 https://support.unitree.com/home/zh/developer/VuiClient

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# unitree_sdk2_python # unitree_sdk2_python
Python interface for unitree sdk2 Python interface for unitree sdk2
# Installation # Installation
## Dependencies ## Dependencies
- Python >= 3.8, < 3.11 - Python >= 3.8, < 3.11
- cyclonedds == 0.10.2 - cyclonedds == 0.10.2
- numpy - numpy
- opencv-python - opencv-python
## Install unitree_sdk2_python ## Install unitree_sdk2_python
Execute the following commands in the terminal: Execute the following commands in the terminal:
```bash ```bash
cd ~ cd ~
sudo apt install python3-pip sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python cd unitree_sdk2_python
pip3 install -e . pip3 install -e .
``` ```
## FAQ ## FAQ
##### 1. Error when `pip3 install -e .`: ##### 1. Error when `pip3 install -e .`:
```bash ```bash
Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH
``` ```
This error mentions that the cyclonedds path could not be found. First compile and install cyclonedds: This error mentions that the cyclonedds path could not be found. First compile and install cyclonedds:
```bash ```bash
cd ~ cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install cmake --build . --target install
``` ```
Enter the unitree_sdk2_python directory, set `CYCLONEDDS_HOME` to the path of the cyclonedds you just compiled, and then install unitree_sdk2_python. Enter the unitree_sdk2_python directory, set `CYCLONEDDS_HOME` to the path of the cyclonedds you just compiled, and then install unitree_sdk2_python.
```bash ```bash
cd ~/unitree_sdk2_python cd ~/unitree_sdk2_python
export CYCLONEDDS_HOME="~/cyclonedds/install" export CYCLONEDDS_HOME="~/cyclonedds/install"
pip3 install -e . pip3 install -e .
``` ```
For details, see: https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries For details, see: https://pypi.org/project/cyclonedds/#installing-with-pre-built-binaries
# Usage # Usage
The Python sdk2 interface maintains consistency with the unitree_sdk2 interface, achieving robot status acquisition and control through request-response or topic subscription/publishing. Example programs are located in the `/example` directory. Before running the examples, configure the robot's network connection as per the instructions in the document at https://support.unitree.com/home/en/developer/Quick_start. The Python sdk2 interface maintains consistency with the unitree_sdk2 interface, achieving robot status acquisition and control through request-response or topic subscription/publishing. Example programs are located in the `/example` directory. Before running the examples, configure the robot's network connection as per the instructions in the document at https://support.unitree.com/home/en/developer/Quick_start.
## DDS Communication ## DDS Communication
In the terminal, execute: In the terminal, execute:
```bash ```bash
python3 ./example/helloworld/publisher.py python3 ./example/helloworld/publisher.py
``` ```
Open a new terminal and execute: Open a new terminal and execute:
```bash ```bash
python3 ./example/helloworld/subscriber.py python3 ./example/helloworld/subscriber.py
``` ```
You will see the data output in the terminal. The data structure transmitted between `publisher.py` and `subscriber.py` is defined in `user_data.py`, and users can define the required data structure as needed. You will see the data output in the terminal. The data structure transmitted between `publisher.py` and `subscriber.py` is defined in `user_data.py`, and users can define the required data structure as needed.
## High-Level Status and Control ## High-Level Status and Control
The high-level interface maintains consistency with unitree_sdk2 in terms of data structure and control methods. For detailed information, refer to https://support.unitree.com/home/en/developer/sports_services. The high-level interface maintains consistency with unitree_sdk2 in terms of data structure and control methods. For detailed information, refer to https://support.unitree.com/home/en/developer/sports_services.
### High-Level Status ### High-Level Status
Execute the following command in the terminal: Execute the following command in the terminal:
```bash ```bash
python3 ./example/high_level/read_highstate.py enp2s0 python3 ./example/high_level/read_highstate.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected,. Replace `enp2s0` with the name of the network interface to which the robot is connected,.
### High-Level Control ### High-Level Control
Execute the following command in the terminal: Execute the following command in the terminal:
```bash ```bash
python3 ./example/high_level/sportmode_test.py enp2s0 python3 ./example/high_level/sportmode_test.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected. This example program provides several test methods, and you can choose the required tests as follows: Replace `enp2s0` with the name of the network interface to which the robot is connected. This example program provides several test methods, and you can choose the required tests as follows:
```python ```python
test.StandUpDown() # Stand up and lie down test.StandUpDown() # Stand up and lie down
# test.VelocityMove() # Velocity control # test.VelocityMove() # Velocity control
# test.BalanceAttitude() # Attitude control # test.BalanceAttitude() # Attitude control
# test.TrajectoryFollow() # Trajectory tracking # test.TrajectoryFollow() # Trajectory tracking
# test.SpecialMotions() # Special motions # test.SpecialMotions() # Special motions
``` ```
## Low-Level Status and Control ## Low-Level Status and Control
The low-level interface maintains consistency with unitree_sdk2 in terms of data structure and control methods. For detailed information, refer to https://support.unitree.com/home/en/developer/Basic_services. The low-level interface maintains consistency with unitree_sdk2 in terms of data structure and control methods. For detailed information, refer to https://support.unitree.com/home/en/developer/Basic_services.
### Low-Level Status ### Low-Level Status
Execute the following command in the terminal: Execute the following command in the terminal:
```bash ```bash
python3 ./example/low_level/lowlevel_control.py enp2s0 python3 ./example/low_level/lowlevel_control.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected. The program will output the state of the right front leg hip joint, IMU, and battery voltage. Replace `enp2s0` with the name of the network interface to which the robot is connected. The program will output the state of the right front leg hip joint, IMU, and battery voltage.
### Low-Level Motor Control ### Low-Level Motor Control
First, use the app to turn off the high-level motion service (sport_mode) to prevent conflicting instructions. First, use the app to turn off the high-level motion service (sport_mode) to prevent conflicting instructions.
Execute the following command in the terminal: Execute the following command in the terminal:
```bash ```bash
python3 ./example/low_level/lowlevel_control.py enp2s0 python3 ./example/low_level/lowlevel_control.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected. The left hind leg hip joint will maintain a 0-degree position (for safety, set kp=10, kd=1), and the left hind leg calf joint will continuously output 1Nm of torque. Replace `enp2s0` with the name of the network interface to which the robot is connected. The left hind leg hip joint will maintain a 0-degree position (for safety, set kp=10, kd=1), and the left hind leg calf joint will continuously output 1Nm of torque.
## Wireless Controller Status ## Wireless Controller Status
Execute the following command in the terminal: Execute the following command in the terminal:
```bash ```bash
python3 ./example/wireless_controller/wireless_controller.py enp2s0 python3 ./example/wireless_controller/wireless_controller.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected. The terminal will output the status of each key. For the definition and data structure of the remote control keys, refer to https://support.unitree.com/home/en/developer/Get_remote_control_status. Replace `enp2s0` with the name of the network interface to which the robot is connected. The terminal will output the status of each key. For the definition and data structure of the remote control keys, refer to https://support.unitree.com/home/en/developer/Get_remote_control_status.
## Front Camera ## Front Camera
Use OpenCV to obtain the front camera (ensure to run on a system with a graphical interface, and press ESC to exit the program): Use OpenCV to obtain the front camera (ensure to run on a system with a graphical interface, and press ESC to exit the program):
```bash ```bash
python3 ./example/front_camera/camera_opencv.py enp2s0 python3 ./example/front_camera/camera_opencv.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected. Replace `enp2s0` with the name of the network interface to which the robot is connected.
## Obstacle Avoidance Switch ## Obstacle Avoidance Switch
```bash ```bash
python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0 python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected. The robot will cycle obstacle avoidance on and off. For details on the obstacle avoidance service, see https://support.unitree.com/home/en/developer/ObstaclesAvoidClient Replace `enp2s0` with the name of the network interface to which the robot is connected. The robot will cycle obstacle avoidance on and off. For details on the obstacle avoidance service, see https://support.unitree.com/home/en/developer/ObstaclesAvoidClient
## Light and volume control ## Light and volume control
```bash ```bash
python3 ./example/vui_client/vui_client_example.py enp2s0 python3 ./example/vui_client/vui_client_example.py enp2s0
``` ```
Replace `enp2s0` with the name of the network interface to which the robot is connected.T he robot will cycle the volume and light brightness. The interface is detailed at https://support.unitree.com/home/en/developer/VuiClient Replace `enp2s0` with the name of the network interface to which the robot is connected.T he robot will cycle the volume and light brightness. The interface is detailed at https://support.unitree.com/home/en/developer/VuiClient

82
example/front_camera/camera_opencv.py
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@ -1,41 +1,41 @@
from unitree_sdk2py.core.channel import ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.video.video_client import VideoClient from unitree_sdk2py.go2.video.video_client import VideoClient
import cv2 import cv2
import numpy as np import numpy as np
import sys import sys
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
client = VideoClient() # Create a video client client = VideoClient() # Create a video client
client.SetTimeout(3.0) client.SetTimeout(3.0)
client.Init() client.Init()
code, data = client.GetImageSample() code, data = client.GetImageSample()
# Request normal when code==0 # Request normal when code==0
while code == 0: while code == 0:
# Get Image data from Go2 robot # Get Image data from Go2 robot
code, data = client.GetImageSample() code, data = client.GetImageSample()
# Convert to numpy image # Convert to numpy image
image_data = np.frombuffer(bytes(data), dtype=np.uint8) image_data = np.frombuffer(bytes(data), dtype=np.uint8)
image = cv2.imdecode(image_data, cv2.IMREAD_COLOR) image = cv2.imdecode(image_data, cv2.IMREAD_COLOR)
# Display image # Display image
cv2.imshow("front_camera", image) cv2.imshow("front_camera", image)
# Press ESC to stop # Press ESC to stop
if cv2.waitKey(20) == 27: if cv2.waitKey(20) == 27:
break break
if code != 0: if code != 0:
print("Get image sample error. code:", code) print("Get image sample error. code:", code)
else: else:
# Capture an image # Capture an image
cv2.imwrite("front_image.jpg", image) cv2.imwrite("front_image.jpg", image)
cv2.destroyWindow("front_camera") cv2.destroyWindow("front_camera")

60
example/front_camera/capture_image.py
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@ -1,30 +1,30 @@
import time import time
import os import os
import sys import sys
from unitree_sdk2py.core.channel import ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.video.video_client import VideoClient from unitree_sdk2py.go2.video.video_client import VideoClient
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
client = VideoClient() client = VideoClient()
client.SetTimeout(3.0) client.SetTimeout(3.0)
client.Init() client.Init()
print("##################GetImageSample###################") print("##################GetImageSample###################")
code, data = client.GetImageSample() code, data = client.GetImageSample()
if code != 0: if code != 0:
print("get image sample error. code:", code) print("get image sample error. code:", code)
else: else:
imageName = "./img.jpg" imageName = "./img.jpg"
print("ImageName:", imageName) print("ImageName:", imageName)
with open(imageName, "+wb") as f: with open(imageName, "+wb") as f:
f.write(bytes(data)) f.write(bytes(data))
time.sleep(1) time.sleep(1)

56
example/helloworld/publisher.py
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@ -1,28 +1,28 @@
import time import time
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
from user_data import * from user_data import *
if __name__ == "__main__": if __name__ == "__main__":
ChannelFactoryInitialize() ChannelFactoryInitialize()
# Create a publisher to publish the data defined in UserData class # Create a publisher to publish the data defined in UserData class
pub = ChannelPublisher("topic", UserData) pub = ChannelPublisher("topic", UserData)
pub.Init() pub.Init()
for i in range(30): for i in range(30):
# Create a Userdata message # Create a Userdata message
msg = UserData(" ", 0) msg = UserData(" ", 0)
msg.string_data = "Hello world" msg.string_data = "Hello world"
msg.float_data = time.time() msg.float_data = time.time()
# Publish message # Publish message
if pub.Write(msg, 0.5): if pub.Write(msg, 0.5):
print("Publish success. msg:", msg) print("Publish success. msg:", msg)
else: else:
print("Waitting for subscriber.") print("Waitting for subscriber.")
time.sleep(1) time.sleep(1)
pub.Close() pub.Close()

40
example/helloworld/subscriber.py
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@ -1,20 +1,20 @@
import time import time
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from user_data import * from user_data import *
if __name__ == "__main__": if __name__ == "__main__":
ChannelFactoryInitialize() ChannelFactoryInitialize()
# Create a subscriber to subscribe the data defined in UserData class # Create a subscriber to subscribe the data defined in UserData class
sub = ChannelSubscriber("topic", UserData) sub = ChannelSubscriber("topic", UserData)
sub.Init() sub.Init()
while True: while True:
msg = sub.Read() msg = sub.Read()
if msg is not None: if msg is not None:
print("Subscribe success. msg:", msg) print("Subscribe success. msg:", msg)
else: else:
print("No data subscribed.") print("No data subscribed.")
break break
sub.Close() sub.Close()

18
example/helloworld/user_data.py
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@ -1,9 +1,9 @@
from dataclasses import dataclass from dataclasses import dataclass
from cyclonedds.idl import IdlStruct from cyclonedds.idl import IdlStruct
# This class defines user data consisting of a float data and a string data # This class defines user data consisting of a float data and a string data
@dataclass @dataclass
class UserData(IdlStruct, typename="UserData"): class UserData(IdlStruct, typename="UserData"):
string_data: str string_data: str
float_data: float float_data: float

46
example/high_level/read_highstate.py
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@ -1,23 +1,23 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_ from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_ from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
def HighStateHandler(msg: SportModeState_): def HighStateHandler(msg: SportModeState_):
print("Position: ", msg.position) print("Position: ", msg.position)
print("Velocity: ", msg.velocity) print("Velocity: ", msg.velocity)
print("Yaw velocity: ", msg.yaw_speed) print("Yaw velocity: ", msg.yaw_speed)
print("Foot position in body frame: ", msg.foot_position_body) print("Foot position in body frame: ", msg.foot_position_body)
print("Foot velocity in body frame: ", msg.foot_speed_body) print("Foot velocity in body frame: ", msg.foot_speed_body)
if __name__ == "__main__": if __name__ == "__main__":
ChannelFactoryInitialize(0, "enp3s0") ChannelFactoryInitialize(0, "enp3s0")
sub = ChannelSubscriber("rt/sportmodestate", SportModeState_) sub = ChannelSubscriber("rt/sportmodestate", SportModeState_)
sub.Init(HighStateHandler, 10) sub.Init(HighStateHandler, 10)
while True: while True:
time.sleep(10.0) time.sleep(10.0)

288
example/high_level/sportmode_test.py
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@ -1,144 +1,144 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_ from unitree_sdk2py.idl.default import unitree_go_msg_dds__SportModeState_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_ from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
from unitree_sdk2py.go2.sport.sport_client import ( from unitree_sdk2py.go2.sport.sport_client import (
SportClient, SportClient,
PathPoint, PathPoint,
SPORT_PATH_POINT_SIZE, SPORT_PATH_POINT_SIZE,
) )
import math import math
class SportModeTest: class SportModeTest:
def __init__(self) -> None: def __init__(self) -> None:
# Time count # Time count
self.t = 0 self.t = 0
self.dt = 0.01 self.dt = 0.01
# Initial poition and yaw # Initial poition and yaw
self.px0 = 0 self.px0 = 0
self.py0 = 0 self.py0 = 0
self.yaw0 = 0 self.yaw0 = 0
self.client = SportClient() # Create a sport client self.client = SportClient() # Create a sport client
self.client.SetTimeout(10.0) self.client.SetTimeout(10.0)
self.client.Init() self.client.Init()
def GetInitState(self, robot_state: SportModeState_): def GetInitState(self, robot_state: SportModeState_):
self.px0 = robot_state.position[0] self.px0 = robot_state.position[0]
self.py0 = robot_state.position[1] self.py0 = robot_state.position[1]
self.yaw0 = robot_state.imu_state.rpy[2] self.yaw0 = robot_state.imu_state.rpy[2]
def StandUpDown(self): def StandUpDown(self):
self.client.StandDown() self.client.StandDown()
print("Stand down !!!") print("Stand down !!!")
time.sleep(1) time.sleep(1)
self.client.StandUp() self.client.StandUp()
print("Stand up !!!") print("Stand up !!!")
time.sleep(1) time.sleep(1)
self.client.StandDown() self.client.StandDown()
print("Stand down !!!") print("Stand down !!!")
time.sleep(1) time.sleep(1)
self.client.Damp() self.client.Damp()
def VelocityMove(self): def VelocityMove(self):
elapsed_time = 1 elapsed_time = 1
for i in range(int(elapsed_time / self.dt)): for i in range(int(elapsed_time / self.dt)):
self.client.Move(0.3, 0, 0.3) # vx, vy vyaw self.client.Move(0.3, 0, 0.3) # vx, vy vyaw
time.sleep(self.dt) time.sleep(self.dt)
self.client.StopMove() self.client.StopMove()
def BalanceAttitude(self): def BalanceAttitude(self):
self.client.Euler(0.1, 0.2, 0.3) # roll, pitch, yaw self.client.Euler(0.1, 0.2, 0.3) # roll, pitch, yaw
self.client.BalanceStand() self.client.BalanceStand()
def TrajectoryFollow(self): def TrajectoryFollow(self):
time_seg = 0.2 time_seg = 0.2
time_temp = self.t - time_seg time_temp = self.t - time_seg
path = [] path = []
for i in range(SPORT_PATH_POINT_SIZE): for i in range(SPORT_PATH_POINT_SIZE):
time_temp += time_seg time_temp += time_seg
px_local = 0.5 * math.sin(0.5 * time_temp) px_local = 0.5 * math.sin(0.5 * time_temp)
py_local = 0 py_local = 0
yaw_local = 0 yaw_local = 0
vx_local = 0.25 * math.cos(0.5 * time_temp) vx_local = 0.25 * math.cos(0.5 * time_temp)
vy_local = 0 vy_local = 0
vyaw_local = 0 vyaw_local = 0
path_point_tmp = PathPoint(0, 0, 0, 0, 0, 0, 0) path_point_tmp = PathPoint(0, 0, 0, 0, 0, 0, 0)
path_point_tmp.timeFromStart = i * time_seg path_point_tmp.timeFromStart = i * time_seg
path_point_tmp.x = ( path_point_tmp.x = (
px_local * math.cos(self.yaw0) px_local * math.cos(self.yaw0)
- py_local * math.sin(self.yaw0) - py_local * math.sin(self.yaw0)
+ self.px0 + self.px0
) )
path_point_tmp.y = ( path_point_tmp.y = (
px_local * math.sin(self.yaw0) px_local * math.sin(self.yaw0)
+ py_local * math.cos(self.yaw0) + py_local * math.cos(self.yaw0)
+ self.py0 + self.py0
) )
path_point_tmp.yaw = yaw_local + self.yaw0 path_point_tmp.yaw = yaw_local + self.yaw0
path_point_tmp.vx = vx_local * math.cos(self.yaw0) - vy_local * math.sin( path_point_tmp.vx = vx_local * math.cos(self.yaw0) - vy_local * math.sin(
self.yaw0 self.yaw0
) )
path_point_tmp.vy = vx_local * math.sin(self.yaw0) + vy_local * math.cos( path_point_tmp.vy = vx_local * math.sin(self.yaw0) + vy_local * math.cos(
self.yaw0 self.yaw0
) )
path_point_tmp.vyaw = vyaw_local path_point_tmp.vyaw = vyaw_local
path.append(path_point_tmp) path.append(path_point_tmp)
self.client.TrajectoryFollow(path) self.client.TrajectoryFollow(path)
def SpecialMotions(self): def SpecialMotions(self):
self.client.RecoveryStand() self.client.RecoveryStand()
print("RecoveryStand !!!") print("RecoveryStand !!!")
time.sleep(1) time.sleep(1)
self.client.Stretch() self.client.Stretch()
print("Sit !!!") print("Sit !!!")
time.sleep(1) time.sleep(1)
self.client.RecoveryStand() self.client.RecoveryStand()
print("RecoveryStand !!!") print("RecoveryStand !!!")
time.sleep(1) time.sleep(1)
# Robot state # Robot state
robot_state = unitree_go_msg_dds__SportModeState_() robot_state = unitree_go_msg_dds__SportModeState_()
def HighStateHandler(msg: SportModeState_): def HighStateHandler(msg: SportModeState_):
global robot_state global robot_state
robot_state = msg robot_state = msg
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
sub = ChannelSubscriber("rt/sportmodestate", SportModeState_) sub = ChannelSubscriber("rt/sportmodestate", SportModeState_)
sub.Init(HighStateHandler, 10) sub.Init(HighStateHandler, 10)
time.sleep(1) time.sleep(1)
test = SportModeTest() test = SportModeTest()
test.GetInitState(robot_state) test.GetInitState(robot_state)
print("Start test !!!") print("Start test !!!")
while True: while True:
test.t += test.dt test.t += test.dt
test.StandUpDown() test.StandUpDown()
# test.VelocityMove() # test.VelocityMove()
# test.BalanceAttitude() # test.BalanceAttitude()
# test.TrajectoryFollow() # test.TrajectoryFollow()
# test.SpecialMotions() # test.SpecialMotions()
time.sleep(test.dt) time.sleep(test.dt)

118
example/low_level/lowlevel_control.py
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@ -1,60 +1,60 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelPublisher, ChannelFactoryInitialize
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_ from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_ from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowCmd_
from unitree_sdk2py.utils.crc import CRC from unitree_sdk2py.utils.crc import CRC
from unitree_sdk2py.utils.thread import Thread from unitree_sdk2py.utils.thread import Thread
import unitree_legged_const as go2 import unitree_legged_const as go2
crc = CRC() crc = CRC()
if __name__ == '__main__': if __name__ == '__main__':
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
# Create a publisher to publish the data defined in UserData class # Create a publisher to publish the data defined in UserData class
pub = ChannelPublisher("rt/lowcmd", LowCmd_) pub = ChannelPublisher("rt/lowcmd", LowCmd_)
pub.Init() pub.Init()
cmd = unitree_go_msg_dds__LowCmd_() cmd = unitree_go_msg_dds__LowCmd_()
cmd.head[0]=0xFE cmd.head[0]=0xFE
cmd.head[1]=0xEF cmd.head[1]=0xEF
cmd.level_flag = 0xFF cmd.level_flag = 0xFF
cmd.gpio = 0 cmd.gpio = 0
for i in range(20): for i in range(20):
cmd.motor_cmd[i].mode = 0x01 # (PMSM) mode cmd.motor_cmd[i].mode = 0x01 # (PMSM) mode
cmd.motor_cmd[i].q= go2.PosStopF cmd.motor_cmd[i].q= go2.PosStopF
cmd.motor_cmd[i].kp = 0 cmd.motor_cmd[i].kp = 0
cmd.motor_cmd[i].dq = go2.VelStopF cmd.motor_cmd[i].dq = go2.VelStopF
cmd.motor_cmd[i].kd = 0 cmd.motor_cmd[i].kd = 0
cmd.motor_cmd[i].tau = 0 cmd.motor_cmd[i].tau = 0
while True: while True:
# Toque controle, set RL_2 toque # Toque controle, set RL_2 toque
cmd.motor_cmd[go2.LegID["RL_2"]].q = 0.0 # Set to stop position(rad) cmd.motor_cmd[go2.LegID["RL_2"]].q = 0.0 # Set to stop position(rad)
cmd.motor_cmd[go2.LegID["RL_2"]].kp = 0.0 cmd.motor_cmd[go2.LegID["RL_2"]].kp = 0.0
cmd.motor_cmd[go2.LegID["RL_2"]].dq = 0.0 # Set to stop angular velocity(rad/s) cmd.motor_cmd[go2.LegID["RL_2"]].dq = 0.0 # Set to stop angular velocity(rad/s)
cmd.motor_cmd[go2.LegID["RL_2"]].kd = 0.0 cmd.motor_cmd[go2.LegID["RL_2"]].kd = 0.0
cmd.motor_cmd[go2.LegID["RL_2"]].tau = 1.0 # target toque is set to 1N.m cmd.motor_cmd[go2.LegID["RL_2"]].tau = 1.0 # target toque is set to 1N.m
# Poinstion(rad) control, set RL_0 rad # Poinstion(rad) control, set RL_0 rad
cmd.motor_cmd[go2.LegID["RL_0"]].q = 0.0 # Taregt angular(rad) cmd.motor_cmd[go2.LegID["RL_0"]].q = 0.0 # Taregt angular(rad)
cmd.motor_cmd[go2.LegID["RL_0"]].kp = 10.0 # Poinstion(rad) control kp gain cmd.motor_cmd[go2.LegID["RL_0"]].kp = 10.0 # Poinstion(rad) control kp gain
cmd.motor_cmd[go2.LegID["RL_0"]].dq = 0.0 # Taregt angular velocity(rad/ss) cmd.motor_cmd[go2.LegID["RL_0"]].dq = 0.0 # Taregt angular velocity(rad/ss)
cmd.motor_cmd[go2.LegID["RL_0"]].kd = 1.0 # Poinstion(rad) control kd gain cmd.motor_cmd[go2.LegID["RL_0"]].kd = 1.0 # Poinstion(rad) control kd gain
cmd.motor_cmd[go2.LegID["RL_0"]].tau = 0.0 # Feedforward toque 1N.m cmd.motor_cmd[go2.LegID["RL_0"]].tau = 0.0 # Feedforward toque 1N.m
cmd.crc = crc.Crc(cmd) cmd.crc = crc.Crc(cmd)
#Publish message #Publish message
if pub.Write(cmd): if pub.Write(cmd):
print("Publish success. msg:", cmd.crc) print("Publish success. msg:", cmd.crc)
else: else:
print("Waitting for subscriber.") print("Waitting for subscriber.")
time.sleep(0.002) time.sleep(0.002)

54
example/low_level/read_lowstate.py
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@ -1,27 +1,27 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_ from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowState_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_ from unitree_sdk2py.idl.unitree_go.msg.dds_ import LowState_
import unitree_legged_const as go2 import unitree_legged_const as go2
def LowStateHandler(msg: LowState_): def LowStateHandler(msg: LowState_):
# print front right hip motor states # print front right hip motor states
print("FR_0 motor state: ", msg.motor_state[go2.LegID["FR_0"]]) print("FR_0 motor state: ", msg.motor_state[go2.LegID["FR_0"]])
print("IMU state: ", msg.imu_state) print("IMU state: ", msg.imu_state)
print("Battery state: voltage: ", msg.power_v, "current: ", msg.power_a) print("Battery state: voltage: ", msg.power_v, "current: ", msg.power_a)
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
sub = ChannelSubscriber("rt/lowstate", LowState_) sub = ChannelSubscriber("rt/lowstate", LowState_)
sub.Init(LowStateHandler, 10) sub.Init(LowStateHandler, 10)
while True: while True:
time.sleep(10.0) time.sleep(10.0)

40
example/low_level/unitree_legged_const.py
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@ -1,20 +1,20 @@
LegID = { LegID = {
"FR_0": 0, # Front right hip "FR_0": 0, # Front right hip
"FR_1": 1, # Front right thigh "FR_1": 1, # Front right thigh
"FR_2": 2, # Front right calf "FR_2": 2, # Front right calf
"FL_0": 3, "FL_0": 3,
"FL_1": 4, "FL_1": 4,
"FL_2": 5, "FL_2": 5,
"RR_0": 6, "RR_0": 6,
"RR_1": 7, "RR_1": 7,
"RR_2": 8, "RR_2": 8,
"RL_0": 9, "RL_0": 9,
"RL_1": 10, "RL_1": 10,
"RL_2": 11, "RL_2": 11,
} }
HIGHLEVEL = 0xEE HIGHLEVEL = 0xEE
LOWLEVEL = 0xFF LOWLEVEL = 0xFF
TRIGERLEVEL = 0xF0 TRIGERLEVEL = 0xF0
PosStopF = 2.146e9 PosStopF = 2.146e9
VelStopF = 16000.0 VelStopF = 16000.0

186
example/obstacles_avoid_switch/obstacles_avoid_switch.py
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@ -1,94 +1,94 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient from unitree_sdk2py.go2.obstacles_avoid.obstacles_avoid_client import ObstaclesAvoidClient
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
client = ObstaclesAvoidClient() client = ObstaclesAvoidClient()
client.SetTimeout(3.0) client.SetTimeout(3.0)
client.Init() client.Init()
while True: while True:
print("##################GetServerApiVersion###################") print("##################GetServerApiVersion###################")
code, serverAPiVersion = client.GetServerApiVersion() code, serverAPiVersion = client.GetServerApiVersion()
if code != 0: if code != 0:
print("get server api error. code:", code) print("get server api error. code:", code)
else: else:
print("get server api version:", serverAPiVersion) print("get server api version:", serverAPiVersion)
if serverAPiVersion != client.GetApiVersion(): if serverAPiVersion != client.GetApiVersion():
print("api version not equal.") print("api version not equal.")
time.sleep(3) time.sleep(3)
print("##################SwitchGet###################") print("##################SwitchGet###################")
code, enable = client.SwitchGet() code, enable = client.SwitchGet()
if code != 0: if code != 0:
print("switch get error. code:", code) print("switch get error. code:", code)
else: else:
print("switch get success. enable:", enable) print("switch get success. enable:", enable)
time.sleep(3) time.sleep(3)
print("##################SwitchSet (on)###################") print("##################SwitchSet (on)###################")
code = client.SwitchSet(True) code = client.SwitchSet(True)
if code != 0: if code != 0:
print("switch set error. code:", code) print("switch set error. code:", code)
else: else:
print("switch set success.") print("switch set success.")
time.sleep(3) time.sleep(3)
print("##################SwitchGet###################") print("##################SwitchGet###################")
code, enable1 = client.SwitchGet() code, enable1 = client.SwitchGet()
if code != 0: if code != 0:
print("switch get error. code:", code) print("switch get error. code:", code)
else: else:
print("switch get success. enable:", enable1) print("switch get success. enable:", enable1)
time.sleep(3) time.sleep(3)
print("##################SwitchSet (off)###################") print("##################SwitchSet (off)###################")
code = client.SwitchSet(False) code = client.SwitchSet(False)
if code != 0: if code != 0:
print("switch set error. code:", code) print("switch set error. code:", code)
else: else:
print("switch set success.") print("switch set success.")
time.sleep(3) time.sleep(3)
print("##################SwitchGet###################") print("##################SwitchGet###################")
code, enable1 = client.SwitchGet() code, enable1 = client.SwitchGet()
if code != 0: if code != 0:
print("switch get error. code:", code) print("switch get error. code:", code)
else: else:
print("switch get success. enable:", enable1) print("switch get success. enable:", enable1)
time.sleep(3) time.sleep(3)
print("##################SwitchSet (enable)###################") print("##################SwitchSet (enable)###################")
code = client.SwitchSet(enable) code = client.SwitchSet(enable)
if code != 0: if code != 0:
print("switch set error. code:", code) print("switch set error. code:", code)
else: else:
print("switch set success. enable:", enable) print("switch set success. enable:", enable)
time.sleep(3) time.sleep(3)
print("##################SwitchGet###################") print("##################SwitchGet###################")
code, enable = client.SwitchGet() code, enable = client.SwitchGet()
if code != 0: if code != 0:
print("switch get error. code:", code) print("switch get error. code:", code)
else: else:
print("switch get success. enable:", enable) print("switch get success. enable:", enable)
time.sleep(3) time.sleep(3)

154
example/vui_client/vui_client_example.py
View File

@ -1,77 +1,77 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelFactoryInitialize
from unitree_sdk2py.go2.vui.vui_client import VuiClient from unitree_sdk2py.go2.vui.vui_client import VuiClient
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
client = VuiClient() client = VuiClient()
client.SetTimeout(3.0) client.SetTimeout(3.0)
client.Init() client.Init()
for i in range(1, 11): for i in range(1, 11):
print("#################GetBrightness####################") print("#################GetBrightness####################")
code, level = client.GetBrightness() code, level = client.GetBrightness()
if code != 0: if code != 0:
print("get brightness error. code:", code) print("get brightness error. code:", code)
else: else:
print("get brightness success. level:", level) print("get brightness success. level:", level)
time.sleep(1) time.sleep(1)
print("#################SetBrightness####################") print("#################SetBrightness####################")
code = client.SetBrightness(i) code = client.SetBrightness(i)
if code != 0: if code != 0:
print("set brightness error. code:", code) print("set brightness error. code:", code)
else: else:
print("set brightness success. level:", i) print("set brightness success. level:", i)
time.sleep(1) time.sleep(1)
print("#################SetBrightness 0####################") print("#################SetBrightness 0####################")
code = client.SetBrightness(0) code = client.SetBrightness(0)
if code != 0: if code != 0:
print("set brightness error. code:", code) print("set brightness error. code:", code)
else: else:
print("set brightness 0 success.") print("set brightness 0 success.")
for i in range(1, 11): for i in range(1, 11):
print("#################GetVolume####################") print("#################GetVolume####################")
code, level = client.GetVolume() code, level = client.GetVolume()
if code != 0: if code != 0:
print("get volume error. code:", code) print("get volume error. code:", code)
else: else:
print("get volume success. level:", level) print("get volume success. level:", level)
time.sleep(1) time.sleep(1)
print("#################SetVolume####################") print("#################SetVolume####################")
code = client.SetVolume(i) code = client.SetVolume(i)
if code != 0: if code != 0:
print("set volume error. code:", code) print("set volume error. code:", code)
else: else:
print("set volume success. level:", i) print("set volume success. level:", i)
time.sleep(1) time.sleep(1)
print("#################SetVolume 0####################") print("#################SetVolume 0####################")
code = client.SetVolume(0) code = client.SetVolume(0)
if code != 0: if code != 0:
print("set volume error. code:", code) print("set volume error. code:", code)
else: else:
print("set volume 0 success.") print("set volume 0 success.")

110
example/wireless_controller/wireless_controller.py
View File

@ -1,55 +1,55 @@
import time import time
import sys import sys
from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize
from unitree_sdk2py.idl.default import unitree_go_msg_dds__WirelessController_ from unitree_sdk2py.idl.default import unitree_go_msg_dds__WirelessController_
from unitree_sdk2py.idl.unitree_go.msg.dds_ import WirelessController_ from unitree_sdk2py.idl.unitree_go.msg.dds_ import WirelessController_
key_state = [ key_state = [
["R1", 0], ["R1", 0],
["L1", 0], ["L1", 0],
["start", 0], ["start", 0],
["select", 0], ["select", 0],
["R2", 0], ["R2", 0],
["L2", 0], ["L2", 0],
["F1", 0], ["F1", 0],
["F2", 0], ["F2", 0],
["A", 0], ["A", 0],
["B", 0], ["B", 0],
["X", 0], ["X", 0],
["Y", 0], ["Y", 0],
["up", 0], ["up", 0],
["right", 0], ["right", 0],
["down", 0], ["down", 0],
["left", 0], ["left", 0],
] ]
def WirelessControllerHandler(msg: WirelessController_): def WirelessControllerHandler(msg: WirelessController_):
global key_state global key_state
print("lx: ", msg.lx) print("lx: ", msg.lx)
print("lx: ", msg.ly) print("lx: ", msg.ly)
print("lx: ", msg.rx) print("lx: ", msg.rx)
print("lx: ", msg.ry) print("lx: ", msg.ry)
print("keys: ", msg.keys) print("keys: ", msg.keys)
#Update key state #Update key state
for i in range(16): for i in range(16):
key_state[i][1] = (msg.keys & (1 << i)) >> i key_state[i][1] = (msg.keys & (1 << i)) >> i
print(key_state) print(key_state)
if __name__ == "__main__": if __name__ == "__main__":
if len(sys.argv)>1: if len(sys.argv)>1:
ChannelFactoryInitialize(0, sys.argv[1]) ChannelFactoryInitialize(0, sys.argv[1])
else: else:
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
sub = ChannelSubscriber("rt/wirelesscontroller", WirelessController_) sub = ChannelSubscriber("rt/wirelesscontroller", WirelessController_)
sub.Init(WirelessControllerHandler, 10) sub.Init(WirelessControllerHandler, 10)
while True: while True:
time.sleep(10.0) time.sleep(10.0)

4
requirements.txt
View File

@ -1,3 +1,3 @@
numpy numpy
opencv-python opencv-python
cyclonedds==0.10.2 cyclonedds==0.10.2

38
setup.py
View File

@ -1,20 +1,20 @@
from setuptools import setup, find_packages from setuptools import setup, find_packages
def load_requirements(filename:str='requirements.txt') -> None: def load_requirements(filename:str='requirements.txt') -> None:
with open(filename, 'r') as file: with open(filename, 'r') as file:
return [line.strip() for line in file if line and not line.startswith("#")] return [line.strip() for line in file if line and not line.startswith("#")]
requirements = load_requirements() requirements = load_requirements()
setup( setup(
name='unitree_sdk2py', name='unitree_sdk2py',
version='1.0.0', version='1.0.0',
author='Unitree', author='Unitree',
author_email='unitree@unitree.com', author_email='unitree@unitree.com',
license="BSD-3-Clause", license="BSD-3-Clause",
packages=find_packages(), packages=find_packages(),
description='Unitree robot sdk version 2 for python', description='Unitree robot sdk version 2 for python',
python_requires='>=3.8,<3.11', python_requires='>=3.8,<3.11',
install_requires=requirements install_requires=requirements
) )

18
unitree_sdk2py/__init__.py
View File

@ -1,9 +1,9 @@
from . import idl, utils, core, rpc, go2 from . import idl, utils, core, rpc, go2
__all__ = [ __all__ = [
"idl", "idl",
"utils", "utils",
"core", "core",
"rpc", "rpc",
"go2", "go2",
] ]

580
unitree_sdk2py/core/channel.py
View File

@ -1,290 +1,290 @@
import time import time
from typing import Any, Callable from typing import Any, Callable
from threading import Thread, Event from threading import Thread, Event
from cyclonedds.domain import Domain, DomainParticipant from cyclonedds.domain import Domain, DomainParticipant
from cyclonedds.internal import dds_c_t from cyclonedds.internal import dds_c_t
from cyclonedds.pub import DataWriter from cyclonedds.pub import DataWriter
from cyclonedds.sub import DataReader from cyclonedds.sub import DataReader
from cyclonedds.topic import Topic from cyclonedds.topic import Topic
from cyclonedds.qos import Qos from cyclonedds.qos import Qos
from cyclonedds.core import DDSException, Listener from cyclonedds.core import DDSException, Listener
from cyclonedds.util import duration from cyclonedds.util import duration
from cyclonedds.internal import dds_c_t, InvalidSample from cyclonedds.internal import dds_c_t, InvalidSample
# for channel config # for channel config
from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface
# for singleton # for singleton
from ..utils.singleton import Singleton from ..utils.singleton import Singleton
from ..utils.bqueue import BQueue from ..utils.bqueue import BQueue
""" """
" class ChannelReader " class ChannelReader
""" """
""" """
" class Channel " class Channel
""" """
class Channel: class Channel:
""" """
" internal class __Reader " internal class __Reader
""" """
class __Reader: class __Reader:
def __init__(self): def __init__(self):
self.__reader = None self.__reader = None
self.__handler = None self.__handler = None
self.__queue = None self.__queue = None
self.__queueEnable = False self.__queueEnable = False
self.__threadEvent = None self.__threadEvent = None
self.__threadReader = None self.__threadReader = None
def Init(self, participant: DomainParticipant, topic: Topic, qos: Qos = None, handler: Callable = None, queueLen: int = 0): def Init(self, participant: DomainParticipant, topic: Topic, qos: Qos = None, handler: Callable = None, queueLen: int = 0):
if handler is None: if handler is None:
self.__reader = DataReader(participant, topic, qos) self.__reader = DataReader(participant, topic, qos)
else: else:
self.__handler = handler self.__handler = handler
if queueLen > 0: if queueLen > 0:
self.__queueEnable = True self.__queueEnable = True
self.__queue = BQueue(queueLen) self.__queue = BQueue(queueLen)
self.__threadEvent = Event() self.__threadEvent = Event()
self.__threadReader = Thread(target=self.__ChannelReaderThreadFunc, name="ch_reader", daemon=True) self.__threadReader = Thread(target=self.__ChannelReaderThreadFunc, name="ch_reader", daemon=True)
self.__threadReader.start() self.__threadReader.start()
self.__reader = DataReader(participant, topic, qos, Listener(on_data_available=self.__OnDataAvailable)) self.__reader = DataReader(participant, topic, qos, Listener(on_data_available=self.__OnDataAvailable))
def Read(self, timeout: float = None): def Read(self, timeout: float = None):
sample = None sample = None
try: try:
if timeout is None: if timeout is None:
sample = self.__reader.take_one() sample = self.__reader.take_one()
else: else:
sample = self.__reader.take_one(timeout=duration(seconds=timeout)) sample = self.__reader.take_one(timeout=duration(seconds=timeout))
except DDSException as e: except DDSException as e:
print("[Reader] catch DDSException msg:", e.msg) print("[Reader] catch DDSException msg:", e.msg)
except TimeoutError as e: except TimeoutError as e:
print("[Reader] take sample timeout") print("[Reader] take sample timeout")
except: except:
print("[Reader] take sample error") print("[Reader] take sample error")
return sample return sample
def Close(self): def Close(self):
if self.__reader is not None: if self.__reader is not None:
del self.__reader del self.__reader
if self.__queueEnable: if self.__queueEnable:
self.__threadEvent.set() self.__threadEvent.set()
self.__queue.Interrupt() self.__queue.Interrupt()
self.__queue.Clear() self.__queue.Clear()
self.__threadReader.join() self.__threadReader.join()
def __OnDataAvailable(self, reader: DataReader): def __OnDataAvailable(self, reader: DataReader):
samples = [] samples = []
try: try:
samples = reader.take(1) samples = reader.take(1)
except DDSException as e: except DDSException as e:
print("[Reader] catch DDSException error. msg:", e.msg) print("[Reader] catch DDSException error. msg:", e.msg)
return return
except TimeoutError as e: except TimeoutError as e:
print("[Reader] take sample timeout") print("[Reader] take sample timeout")
return return
except: except:
print("[Reader] take sample error") print("[Reader] take sample error")
return return
if samples is None: if samples is None:
return return
# check invalid sample # check invalid sample
sample = samples[0] sample = samples[0]
if isinstance(sample, InvalidSample): if isinstance(sample, InvalidSample):
return return
# do sample # do sample
if self.__queueEnable: if self.__queueEnable:
self.__queue.Put(sample) self.__queue.Put(sample)
else: else:
self.__handler(sample) self.__handler(sample)
def __ChannelReaderThreadFunc(self): def __ChannelReaderThreadFunc(self):
while not self.__threadEvent.is_set(): while not self.__threadEvent.is_set():
sample = self.__queue.Get() sample = self.__queue.Get()
if sample is not None: if sample is not None:
self.__handler(sample) self.__handler(sample)
""" """
" internal class __Writer " internal class __Writer
""" """
class __Writer: class __Writer:
def __init__(self): def __init__(self):
self.__writer = None self.__writer = None
self.__publication_matched_count = 0 self.__publication_matched_count = 0
def Init(self, participant: DomainParticipant, topic: Topic, qos: Qos = None): def Init(self, participant: DomainParticipant, topic: Topic, qos: Qos = None):
self.__writer = DataWriter(participant, topic, qos, Listener(on_publication_matched=self.__OnPublicationMatched)) self.__writer = DataWriter(participant, topic, qos, Listener(on_publication_matched=self.__OnPublicationMatched))
time.sleep(0.2) time.sleep(0.2)
def Write(self, sample: Any, timeout: float = None): def Write(self, sample: Any, timeout: float = None):
waitsec = 0.0 if timeout is None else timeout waitsec = 0.0 if timeout is None else timeout
# check publication_matched_count # check publication_matched_count
while waitsec > 0.0 and self.__publication_matched_count == 0: while waitsec > 0.0 and self.__publication_matched_count == 0:
time.sleep(0.1) time.sleep(0.1)
waitsec = waitsec - 0.1 waitsec = waitsec - 0.1
# print(time.time()) # print(time.time())
# check waitsec # check waitsec
if timeout is not None and waitsec <= 0.0: if timeout is not None and waitsec <= 0.0:
return False return False
try: try:
self.__writer.write(sample) self.__writer.write(sample)
except DDSException as e: except DDSException as e:
print("[Writer] catch DDSException error. msg:", e.msg) print("[Writer] catch DDSException error. msg:", e.msg)
return False return False
except Exception as e: except Exception as e:
print("[Writer] write sample error. msg:", e.args()) print("[Writer] write sample error. msg:", e.args())
return False return False
return True return True
def Close(self): def Close(self):
if self.__writer is not None: if self.__writer is not None:
del self.__writer del self.__writer
def __OnPublicationMatched(self, writer: DataWriter, status: dds_c_t.publication_matched_status): def __OnPublicationMatched(self, writer: DataWriter, status: dds_c_t.publication_matched_status):
self.__publication_matched_count = status.current_count self.__publication_matched_count = status.current_count
# channel __init__ # channel __init__
def __init__(self, participant: DomainParticipant, name: str, type: Any, qos: Qos = None): def __init__(self, participant: DomainParticipant, name: str, type: Any, qos: Qos = None):
self.__reader = self.__Reader() self.__reader = self.__Reader()
self.__writer = self.__Writer() self.__writer = self.__Writer()
self.__participant = participant self.__participant = participant
self.__topic = Topic(self.__participant, name, type, qos) self.__topic = Topic(self.__participant, name, type, qos)
def SetWriter(self, qos: Qos = None): def SetWriter(self, qos: Qos = None):
self.__writer.Init(self.__participant, self.__topic, qos) self.__writer.Init(self.__participant, self.__topic, qos)
def SetReader(self, qos: Qos = None, handler: Callable = None, queueLen: int = 0): def SetReader(self, qos: Qos = None, handler: Callable = None, queueLen: int = 0):
self.__reader.Init(self.__participant, self.__topic, qos, handler, queueLen) self.__reader.Init(self.__participant, self.__topic, qos, handler, queueLen)
def Write(self, sample: Any, timeout: float = None): def Write(self, sample: Any, timeout: float = None):
return self.__writer.Write(sample, timeout) return self.__writer.Write(sample, timeout)
def Read(self, timeout: float = None): def Read(self, timeout: float = None):
return self.__reader.Read(timeout) return self.__reader.Read(timeout)
def CloseReader(self): def CloseReader(self):
self.__reader.Close() self.__reader.Close()
def CloseWriter(self): def CloseWriter(self):
self.__writer.Close() self.__writer.Close()
""" """
" class ChannelFactory " class ChannelFactory
""" """
class ChannelFactory(Singleton): class ChannelFactory(Singleton):
__domain = None __domain = None
__participant = None __participant = None
__qos = None __qos = None
def __init__(self): def __init__(self):
super().__init__() super().__init__()
def Init(self, id: int, networkInterface: str = None, qos: Qos = None): def Init(self, id: int, networkInterface: str = None, qos: Qos = None):
config = None config = None
# choose config # choose config
if networkInterface is None: if networkInterface is None:
config = ChannelConfigAutoDetermine config = ChannelConfigAutoDetermine
else: else:
config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface) config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface)
try: try:
self.__domain = Domain(id, config) self.__domain = Domain(id, config)
except DDSException as e: except DDSException as e:
print("[ChannelFactory] create domain error. msg:", e.msg) print("[ChannelFactory] create domain error. msg:", e.msg)
return False return False
except: except:
print("[ChannelFactory] create domain error.") print("[ChannelFactory] create domain error.")
return False return False
try: try:
self.__participant = DomainParticipant(id) self.__participant = DomainParticipant(id)
except DDSException as e: except DDSException as e:
print("[ChannelFactory] create domain participant error. msg:", e.msg) print("[ChannelFactory] create domain participant error. msg:", e.msg)
return False return False
except: except:
print("[ChannelFactory] create domain participant error") print("[ChannelFactory] create domain participant error")
return False return False
self.__qos = qos self.__qos = qos
return True return True
def CreateChannel(self, name: str, type: Any): def CreateChannel(self, name: str, type: Any):
return Channel(self.__participant, name, type, self.__qos) return Channel(self.__participant, name, type, self.__qos)
def CreateSendChannel(self, name: str, type: Any): def CreateSendChannel(self, name: str, type: Any):
channel = self.CreateChannel(name, type) channel = self.CreateChannel(name, type)
channel.SetWriter(None) channel.SetWriter(None)
return channel return channel
def CreateRecvChannel(self, name: str, type: Any, handler: Callable = None, queueLen: int = 0): def CreateRecvChannel(self, name: str, type: Any, handler: Callable = None, queueLen: int = 0):
channel = self.CreateChannel(name, type) channel = self.CreateChannel(name, type)
channel.SetReader(None, handler, queueLen) channel.SetReader(None, handler, queueLen)
return channel return channel
""" """
" class ChannelPublisher " class ChannelPublisher
""" """
class ChannelPublisher: class ChannelPublisher:
def __init__(self, name: str, type: Any): def __init__(self, name: str, type: Any):
factory = ChannelFactory() factory = ChannelFactory()
self.__channel = factory.CreateChannel(name, type) self.__channel = factory.CreateChannel(name, type)
self.__inited = False self.__inited = False
def Init(self): def Init(self):
if not self.__inited: if not self.__inited:
self.__channel.SetWriter(None) self.__channel.SetWriter(None)
self.__inited = True self.__inited = True
def Close(self): def Close(self):
self.__channel.CloseWriter() self.__channel.CloseWriter()
self.__inited = False self.__inited = False
def Write(self, sample: Any, timeout: float = None): def Write(self, sample: Any, timeout: float = None):
return self.__channel.Write(sample, timeout) return self.__channel.Write(sample, timeout)
""" """
" class ChannelSubscriber " class ChannelSubscriber
""" """
class ChannelSubscriber: class ChannelSubscriber:
def __init__(self, name: str, type: Any): def __init__(self, name: str, type: Any):
factory = ChannelFactory() factory = ChannelFactory()
self.__channel = factory.CreateChannel(name, type) self.__channel = factory.CreateChannel(name, type)
self.__inited = False self.__inited = False
def Init(self, handler: Callable = None, queueLen: int = 0): def Init(self, handler: Callable = None, queueLen: int = 0):
if not self.__inited: if not self.__inited:
self.__channel.SetReader(None, handler, queueLen) self.__channel.SetReader(None, handler, queueLen)
self.__inited = True self.__inited = True
def Close(self): def Close(self):
self.__channel.CloseReader() self.__channel.CloseReader()
self.__inited = False self.__inited = False
def Read(self, timeout: int = None): def Read(self, timeout: int = None):
return self.__channel.Read(timeout) return self.__channel.Read(timeout)
""" """
" function ChannelFactoryInitialize. used to intialize channel everenment. " function ChannelFactoryInitialize. used to intialize channel everenment.
""" """
def ChannelFactoryInitialize(id: int = 0, networkInterface: str = None): def ChannelFactoryInitialize(id: int = 0, networkInterface: str = None):
factory = ChannelFactory() factory = ChannelFactory()
if not factory.Init(id, networkInterface): if not factory.Init(id, networkInterface):
raise Exception("channel factory init error.") raise Exception("channel factory init error.")

50
unitree_sdk2py/core/channel_config.py
View File

@ -1,25 +1,25 @@
ChannelConfigHasInterface = '''<?xml version="1.0" encoding="UTF-8" ?> ChannelConfigHasInterface = '''<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS> <CycloneDDS>
<Domain Id="any"> <Domain Id="any">
<General> <General>
<Interfaces> <Interfaces>
<NetworkInterface name="$__IF_NAME__$" priority="default" multicast="default"/> <NetworkInterface name="$__IF_NAME__$" priority="default" multicast="default"/>
</Interfaces> </Interfaces>
</General> </General>
<Tracing> <Tracing>
<Verbosity>config</Verbosity> <Verbosity>config</Verbosity>
<OutputFile>/tmp/cdds.LOG</OutputFile> <OutputFile>/tmp/cdds.LOG</OutputFile>
</Tracing> </Tracing>
</Domain> </Domain>
</CycloneDDS>''' </CycloneDDS>'''
ChannelConfigAutoDetermine = '''<?xml version="1.0" encoding="UTF-8" ?> ChannelConfigAutoDetermine = '''<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS> <CycloneDDS>
<Domain Id="any"> <Domain Id="any">
<General> <General>
<Interfaces> <Interfaces>
<NetworkInterface autodetermine=\"true\" priority=\"default\" multicast=\"default\" /> <NetworkInterface autodetermine=\"true\" priority=\"default\" multicast=\"default\" />
</Interfaces> </Interfaces>
</General> </General>
</Domain> </Domain>
</CycloneDDS>''' </CycloneDDS>'''

66
unitree_sdk2py/core/channel_name.py
View File

@ -1,34 +1,34 @@
from enum import Enum from enum import Enum
""" """
" Enum ChannelType " Enum ChannelType
""" """
class ChannelType(Enum): class ChannelType(Enum):
SEND = 0 SEND = 0
RECV = 1 RECV = 1
""" """
" function GetClientChannelName " function GetClientChannelName
""" """
def GetClientChannelName(serviceName: str, channelType: ChannelType): def GetClientChannelName(serviceName: str, channelType: ChannelType):
name = "rt/api/" + serviceName name = "rt/api/" + serviceName
if channelType == ChannelType.SEND: if channelType == ChannelType.SEND:
name += "/request" name += "/request"
else: else:
name += "/response" name += "/response"
return name return name
""" """
" function GetClientChannelName " function GetClientChannelName
""" """
def GetServerChannelName(serviceName: str, channelType: ChannelType): def GetServerChannelName(serviceName: str, channelType: ChannelType):
name = "rt/api/" + serviceName name = "rt/api/" + serviceName
if channelType == ChannelType.SEND: if channelType == ChannelType.SEND:
name += "/response" name += "/response"
else: else:
name += "/request" name += "/request"
return name return name

34
unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_api.py
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@ -1,17 +1,17 @@
""" """
" service name " service name
""" """
OBSTACLES_AVOID_SERVICE_NAME = "obstacles_avoid" OBSTACLES_AVOID_SERVICE_NAME = "obstacles_avoid"
""" """
" service api version " service api version
""" """
OBSTACLES_AVOID_API_VERSION = "1.0.0.1" OBSTACLES_AVOID_API_VERSION = "1.0.0.1"
""" """
" api id " api id
""" """
OBSTACLES_AVOID_API_ID_SWITCH_SET = 1001 OBSTACLES_AVOID_API_ID_SWITCH_SET = 1001
OBSTACLES_AVOID_API_ID_SWITCH_GET = 1002 OBSTACLES_AVOID_API_ID_SWITCH_GET = 1002

78
unitree_sdk2py/go2/obstacles_avoid/obstacles_avoid_client.py
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@ -1,40 +1,40 @@
import json import json
from ...rpc.client import Client from ...rpc.client import Client
from .obstacles_avoid_api import * from .obstacles_avoid_api import *
""" """
" class ObstaclesAvoidClient " class ObstaclesAvoidClient
""" """
class ObstaclesAvoidClient(Client): class ObstaclesAvoidClient(Client):
def __init__(self): def __init__(self):
super().__init__(OBSTACLES_AVOID_SERVICE_NAME, False) super().__init__(OBSTACLES_AVOID_SERVICE_NAME, False)
def Init(self): def Init(self):
# set api version # set api version
self._SetApiVerson(OBSTACLES_AVOID_API_VERSION) self._SetApiVerson(OBSTACLES_AVOID_API_VERSION)
# regist api # regist api
self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_SET, 0) self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_SET, 0)
self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_GET, 0) self._RegistApi(OBSTACLES_AVOID_API_ID_SWITCH_GET, 0)
# 1001 # 1001
def SwitchSet(self, on: bool): def SwitchSet(self, on: bool):
p = {} p = {}
p["enable"] = on p["enable"] = on
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(OBSTACLES_AVOID_API_ID_SWITCH_SET, parameter) code, data = self._Call(OBSTACLES_AVOID_API_ID_SWITCH_SET, parameter)
return code return code
# 1002 # 1002
def SwitchGet(self): def SwitchGet(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(OBSTACLES_AVOID_API_ID_SWITCH_GET, parameter) code, data = self._Call(OBSTACLES_AVOID_API_ID_SWITCH_GET, parameter)
if code == 0: if code == 0:
d = json.loads(data) d = json.loads(data)
return code, d["enable"] return code, d["enable"]
else: else:
return code, None return code, None

50
unitree_sdk2py/go2/robot_state/robot_state_api.py
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@ -1,25 +1,25 @@
""" """
" service name " service name
""" """
ROBOT_STATE_SERVICE_NAME = "robot_state" ROBOT_STATE_SERVICE_NAME = "robot_state"
""" """
" service api version " service api version
""" """
ROBOT_STATE_API_VERSION = "1.0.0.1" ROBOT_STATE_API_VERSION = "1.0.0.1"
""" """
" api id " api id
""" """
ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001 ROBOT_STATE_API_ID_SERVICE_SWITCH = 1001
ROBOT_STATE_API_ID_REPORT_FREQ = 1002 ROBOT_STATE_API_ID_REPORT_FREQ = 1002
ROBOT_STATE_API_ID_SERVICE_LIST = 1003 ROBOT_STATE_API_ID_SERVICE_LIST = 1003
""" """
" error code " error code
""" """
ROBOT_STATE_ERR_SERVICE_SWITCH = 5201 ROBOT_STATE_ERR_SERVICE_SWITCH = 5201
ROBOT_STATE_ERR_SERVICE_PROTECTED = 5202 ROBOT_STATE_ERR_SERVICE_PROTECTED = 5202

168
unitree_sdk2py/go2/robot_state/robot_state_client.py
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@ -1,84 +1,84 @@
import json import json
from ...rpc.client import Client from ...rpc.client import Client
from ...rpc.client_internal import * from ...rpc.client_internal import *
from .robot_state_api import * from .robot_state_api import *
""" """
" class ServiceState " class ServiceState
""" """
class ServiceState: class ServiceState:
def __init__(self, name: str = None, status: int = None, protect: bool = None): def __init__(self, name: str = None, status: int = None, protect: bool = None):
self.name = name self.name = name
self.status = status self.status = status
self.protect = protect self.protect = protect
""" """
" class RobotStateClient " class RobotStateClient
""" """
class RobotStateClient(Client): class RobotStateClient(Client):
def __init__(self): def __init__(self):
super().__init__(ROBOT_STATE_SERVICE_NAME, False) super().__init__(ROBOT_STATE_SERVICE_NAME, False)
def Init(self): def Init(self):
# set api version # set api version
self._SetApiVerson(ROBOT_STATE_API_VERSION) self._SetApiVerson(ROBOT_STATE_API_VERSION)
# regist api # regist api
self._RegistApi(ROBOT_STATE_API_ID_SERVICE_SWITCH, 0) self._RegistApi(ROBOT_STATE_API_ID_SERVICE_SWITCH, 0)
self._RegistApi(ROBOT_STATE_API_ID_REPORT_FREQ, 0) self._RegistApi(ROBOT_STATE_API_ID_REPORT_FREQ, 0)
self._RegistApi(ROBOT_STATE_API_ID_SERVICE_LIST, 0) self._RegistApi(ROBOT_STATE_API_ID_SERVICE_LIST, 0)
def ServiceList(self): def ServiceList(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_LIST, parameter) code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_LIST, parameter)
if code != 0: if code != 0:
return code, None return code, None
lst = [] lst = []
d = json.loads(data) d = json.loads(data)
for t in d: for t in d:
s = ServiceState() s = ServiceState()
s.name = t["name"] s.name = t["name"]
s.status = t["status"] s.status = t["status"]
s.protect = t["protect"] s.protect = t["protect"]
lst.append(s) lst.append(s)
return code, lst return code, lst
def ServiceSwitch(self, name: str, switch: bool): def ServiceSwitch(self, name: str, switch: bool):
p = {} p = {}
p["name"] = name p["name"] = name
p["switch"] = int(switch) p["switch"] = int(switch)
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_SWITCH, parameter) code, data = self._Call(ROBOT_STATE_API_ID_SERVICE_SWITCH, parameter)
if code != 0: if code != 0:
return code return code
d = json.loads(data) d = json.loads(data)
status = d["status"] status = d["status"]
if status == 5: if status == 5:
return ROBOT_STATE_ERR_SERVICE_PROTECTED return ROBOT_STATE_ERR_SERVICE_PROTECTED
if status != 0 and status != 1: if status != 0 and status != 1:
return ROBOT_STATE_ERR_SERVICE_SWITCH return ROBOT_STATE_ERR_SERVICE_SWITCH
return code return code
def SetReportFreq(self, interval: int, duration: int): def SetReportFreq(self, interval: int, duration: int):
p = {} p = {}
p["interval"] = interval p["interval"] = interval
p["duration"] = duration p["duration"] = duration
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(ROBOT_STATE_API_ID_REPORT_FREQ, p) code, data = self._Call(ROBOT_STATE_API_ID_REPORT_FREQ, p)
return code return code

122
unitree_sdk2py/go2/sport/sport_api.py
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@ -1,61 +1,61 @@
""" """
" service name " service name
""" """
SPORT_SERVICE_NAME = "sport" SPORT_SERVICE_NAME = "sport"
""" """
" service api version " service api version
""" """
SPORT_API_VERSION = "1.0.0.1" SPORT_API_VERSION = "1.0.0.1"
""" """
" api id " api id
""" """
SPORT_API_ID_DAMP = 1001 SPORT_API_ID_DAMP = 1001
SPORT_API_ID_BALANCESTAND = 1002 SPORT_API_ID_BALANCESTAND = 1002
SPORT_API_ID_STOPMOVE = 1003 SPORT_API_ID_STOPMOVE = 1003
SPORT_API_ID_STANDUP = 1004 SPORT_API_ID_STANDUP = 1004
SPORT_API_ID_STANDDOWN = 1005 SPORT_API_ID_STANDDOWN = 1005
SPORT_API_ID_RECOVERYSTAND = 1006 SPORT_API_ID_RECOVERYSTAND = 1006
SPORT_API_ID_EULER = 1007 SPORT_API_ID_EULER = 1007
SPORT_API_ID_MOVE = 1008 SPORT_API_ID_MOVE = 1008
SPORT_API_ID_SIT = 1009 SPORT_API_ID_SIT = 1009
SPORT_API_ID_RISESIT = 1010 SPORT_API_ID_RISESIT = 1010
SPORT_API_ID_SWITCHGAIT = 1011 SPORT_API_ID_SWITCHGAIT = 1011
SPORT_API_ID_TRIGGER = 1012 SPORT_API_ID_TRIGGER = 1012
SPORT_API_ID_BODYHEIGHT = 1013 SPORT_API_ID_BODYHEIGHT = 1013
SPORT_API_ID_FOOTRAISEHEIGHT = 1014 SPORT_API_ID_FOOTRAISEHEIGHT = 1014
SPORT_API_ID_SPEEDLEVEL = 1015 SPORT_API_ID_SPEEDLEVEL = 1015
SPORT_API_ID_HELLO = 1016 SPORT_API_ID_HELLO = 1016
SPORT_API_ID_STRETCH = 1017 SPORT_API_ID_STRETCH = 1017
SPORT_API_ID_TRAJECTORYFOLLOW = 1018 SPORT_API_ID_TRAJECTORYFOLLOW = 1018
SPORT_API_ID_CONTINUOUSGAIT = 1019 SPORT_API_ID_CONTINUOUSGAIT = 1019
SPORT_API_ID_CONTENT = 1020 SPORT_API_ID_CONTENT = 1020
SPORT_API_ID_WALLOW = 1021 SPORT_API_ID_WALLOW = 1021
SPORT_API_ID_DANCE1 = 1022 SPORT_API_ID_DANCE1 = 1022
SPORT_API_ID_DANCE2 = 1023 SPORT_API_ID_DANCE2 = 1023
SPORT_API_ID_GETBODYHEIGHT = 1024 SPORT_API_ID_GETBODYHEIGHT = 1024
SPORT_API_ID_GETFOOTRAISEHEIGHT = 1025 SPORT_API_ID_GETFOOTRAISEHEIGHT = 1025
SPORT_API_ID_GETSPEEDLEVEL = 1026 SPORT_API_ID_GETSPEEDLEVEL = 1026
SPORT_API_ID_SWITCHJOYSTICK = 1027 SPORT_API_ID_SWITCHJOYSTICK = 1027
SPORT_API_ID_POSE = 1028 SPORT_API_ID_POSE = 1028
SPORT_API_ID_SCRAPE = 1029 SPORT_API_ID_SCRAPE = 1029
SPORT_API_ID_FRONTFLIP = 1030 SPORT_API_ID_FRONTFLIP = 1030
SPORT_API_ID_FRONTJUMP = 1031 SPORT_API_ID_FRONTJUMP = 1031
SPORT_API_ID_FRONTPOUNCE = 1032 SPORT_API_ID_FRONTPOUNCE = 1032
SPORT_API_ID_WIGGLEHIPS = 1033 SPORT_API_ID_WIGGLEHIPS = 1033
SPORT_API_ID_GETSTATE = 1034 SPORT_API_ID_GETSTATE = 1034
SPORT_API_ID_ECONOMICGAIT = 1035 SPORT_API_ID_ECONOMICGAIT = 1035
SPORT_API_ID_HEART = 1036 SPORT_API_ID_HEART = 1036
""" """
" error code " error code
""" """
# client side # client side
SPORT_ERR_CLIENT_POINT_PATH = 4101 SPORT_ERR_CLIENT_POINT_PATH = 4101
# server side # server side
SPORT_ERR_SERVER_OVERTIME = 4201 SPORT_ERR_SERVER_OVERTIME = 4201
SPORT_ERR_SERVER_NOT_INIT = 4202 SPORT_ERR_SERVER_NOT_INIT = 4202

726
unitree_sdk2py/go2/sport/sport_client.py
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@ -1,364 +1,364 @@
import json import json
from ...rpc.client import Client from ...rpc.client import Client
from .sport_api import * from .sport_api import *
""" """
" SPORT_PATH_POINT_SIZE " SPORT_PATH_POINT_SIZE
""" """
SPORT_PATH_POINT_SIZE = 30 SPORT_PATH_POINT_SIZE = 30
""" """
" class PathPoint " class PathPoint
""" """
class PathPoint: class PathPoint:
def __init__(self, timeFromStart: float, x: float, y: float, yaw: float, vx: float, vy: float, vyaw: float): def __init__(self, timeFromStart: float, x: float, y: float, yaw: float, vx: float, vy: float, vyaw: float):
self.timeFromStart = timeFromStart self.timeFromStart = timeFromStart
self.x = x self.x = x
self.y = y self.y = y
self.yaw = yaw self.yaw = yaw
self.vx = vx self.vx = vx
self.vy = vy self.vy = vy
self.vyaw = vyaw self.vyaw = vyaw
""" """
" class SportClient " class SportClient
""" """
class SportClient(Client): class SportClient(Client):
def __init__(self, enableLease: bool = False): def __init__(self, enableLease: bool = False):
super().__init__(SPORT_SERVICE_NAME, enableLease) super().__init__(SPORT_SERVICE_NAME, enableLease)
def Init(self): def Init(self):
# set api version # set api version
self._SetApiVerson(SPORT_API_VERSION) self._SetApiVerson(SPORT_API_VERSION)
# regist api # regist api
self._RegistApi(SPORT_API_ID_DAMP, 0) self._RegistApi(SPORT_API_ID_DAMP, 0)
self._RegistApi(SPORT_API_ID_BALANCESTAND, 0) self._RegistApi(SPORT_API_ID_BALANCESTAND, 0)
self._RegistApi(SPORT_API_ID_STOPMOVE, 0) self._RegistApi(SPORT_API_ID_STOPMOVE, 0)
self._RegistApi(SPORT_API_ID_STANDUP, 0) self._RegistApi(SPORT_API_ID_STANDUP, 0)
self._RegistApi(SPORT_API_ID_STANDDOWN, 0) self._RegistApi(SPORT_API_ID_STANDDOWN, 0)
self._RegistApi(SPORT_API_ID_RECOVERYSTAND, 0) self._RegistApi(SPORT_API_ID_RECOVERYSTAND, 0)
self._RegistApi(SPORT_API_ID_EULER, 0) self._RegistApi(SPORT_API_ID_EULER, 0)
self._RegistApi(SPORT_API_ID_MOVE, 0) self._RegistApi(SPORT_API_ID_MOVE, 0)
self._RegistApi(SPORT_API_ID_SIT, 0) self._RegistApi(SPORT_API_ID_SIT, 0)
self._RegistApi(SPORT_API_ID_RISESIT, 0) self._RegistApi(SPORT_API_ID_RISESIT, 0)
self._RegistApi(SPORT_API_ID_SWITCHGAIT, 0) self._RegistApi(SPORT_API_ID_SWITCHGAIT, 0)
self._RegistApi(SPORT_API_ID_TRIGGER, 0) self._RegistApi(SPORT_API_ID_TRIGGER, 0)
self._RegistApi(SPORT_API_ID_BODYHEIGHT, 0) self._RegistApi(SPORT_API_ID_BODYHEIGHT, 0)
self._RegistApi(SPORT_API_ID_FOOTRAISEHEIGHT, 0) self._RegistApi(SPORT_API_ID_FOOTRAISEHEIGHT, 0)
self._RegistApi(SPORT_API_ID_SPEEDLEVEL, 0) self._RegistApi(SPORT_API_ID_SPEEDLEVEL, 0)
self._RegistApi(SPORT_API_ID_HELLO, 0) self._RegistApi(SPORT_API_ID_HELLO, 0)
self._RegistApi(SPORT_API_ID_STRETCH, 0) self._RegistApi(SPORT_API_ID_STRETCH, 0)
self._RegistApi(SPORT_API_ID_TRAJECTORYFOLLOW, 0) self._RegistApi(SPORT_API_ID_TRAJECTORYFOLLOW, 0)
self._RegistApi(SPORT_API_ID_CONTINUOUSGAIT, 0) self._RegistApi(SPORT_API_ID_CONTINUOUSGAIT, 0)
# self._RegistApi(SPORT_API_ID_CONTENT, 0) # self._RegistApi(SPORT_API_ID_CONTENT, 0)
self._RegistApi(SPORT_API_ID_WALLOW, 0) self._RegistApi(SPORT_API_ID_WALLOW, 0)
self._RegistApi(SPORT_API_ID_DANCE1, 0) self._RegistApi(SPORT_API_ID_DANCE1, 0)
self._RegistApi(SPORT_API_ID_DANCE2, 0) self._RegistApi(SPORT_API_ID_DANCE2, 0)
# self._RegistApi(SPORT_API_ID_GETBODYHEIGHT, 0) # self._RegistApi(SPORT_API_ID_GETBODYHEIGHT, 0)
# self._RegistApi(SPORT_API_ID_GETFOOTRAISEHEIGHT, 0) # self._RegistApi(SPORT_API_ID_GETFOOTRAISEHEIGHT, 0)
# self._RegistApi(SPORT_API_ID_GETSPEEDLEVEL, 0) # self._RegistApi(SPORT_API_ID_GETSPEEDLEVEL, 0)
self._RegistApi(SPORT_API_ID_SWITCHJOYSTICK, 0) self._RegistApi(SPORT_API_ID_SWITCHJOYSTICK, 0)
self._RegistApi(SPORT_API_ID_POSE, 0) self._RegistApi(SPORT_API_ID_POSE, 0)
self._RegistApi(SPORT_API_ID_SCRAPE, 0) self._RegistApi(SPORT_API_ID_SCRAPE, 0)
self._RegistApi(SPORT_API_ID_FRONTFLIP, 0) self._RegistApi(SPORT_API_ID_FRONTFLIP, 0)
self._RegistApi(SPORT_API_ID_FRONTJUMP, 0) self._RegistApi(SPORT_API_ID_FRONTJUMP, 0)
self._RegistApi(SPORT_API_ID_FRONTPOUNCE, 0) self._RegistApi(SPORT_API_ID_FRONTPOUNCE, 0)
self._RegistApi(SPORT_API_ID_WIGGLEHIPS, 0) self._RegistApi(SPORT_API_ID_WIGGLEHIPS, 0)
self._RegistApi(SPORT_API_ID_GETSTATE, 0) self._RegistApi(SPORT_API_ID_GETSTATE, 0)
self._RegistApi(SPORT_API_ID_ECONOMICGAIT, 0) self._RegistApi(SPORT_API_ID_ECONOMICGAIT, 0)
self._RegistApi(SPORT_API_ID_HEART, 0) self._RegistApi(SPORT_API_ID_HEART, 0)
# 1001 # 1001
def Damp(self): def Damp(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_DAMP, parameter) code, data = self._Call(SPORT_API_ID_DAMP, parameter)
return code return code
# 1002 # 1002
def BalanceStand(self): def BalanceStand(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_BALANCESTAND, parameter) code, data = self._Call(SPORT_API_ID_BALANCESTAND, parameter)
return code return code
# 1003 # 1003
def StopMove(self): def StopMove(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_STOPMOVE, parameter) code, data = self._Call(SPORT_API_ID_STOPMOVE, parameter)
return code return code
# 1004 # 1004
def StandUp(self): def StandUp(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_STANDUP, parameter) code, data = self._Call(SPORT_API_ID_STANDUP, parameter)
return code return code
# 1005 # 1005
def StandDown(self): def StandDown(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_STANDDOWN, parameter) code, data = self._Call(SPORT_API_ID_STANDDOWN, parameter)
return code return code
# 1006 # 1006
def RecoveryStand(self): def RecoveryStand(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_RECOVERYSTAND, parameter) code, data = self._Call(SPORT_API_ID_RECOVERYSTAND, parameter)
return code return code
# 1007 # 1007
def Euler(self, roll: float, pitch: float, yaw: float): def Euler(self, roll: float, pitch: float, yaw: float):
p = {} p = {}
p["x"] = roll p["x"] = roll
p["y"] = pitch p["y"] = pitch
p["z"] = yaw p["z"] = yaw
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_EULER, parameter) code, data = self._Call(SPORT_API_ID_EULER, parameter)
return code return code
# 1008 # 1008
def Move(self, vx: float, vy: float, vyaw: float): def Move(self, vx: float, vy: float, vyaw: float):
p = {} p = {}
p["x"] = vx p["x"] = vx
p["y"] = vy p["y"] = vy
p["z"] = vyaw p["z"] = vyaw
parameter = json.dumps(p) parameter = json.dumps(p)
code = self._CallNoReply(SPORT_API_ID_MOVE, parameter) code = self._CallNoReply(SPORT_API_ID_MOVE, parameter)
return code return code
# 1009 # 1009
def Sit(self): def Sit(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_SIT, parameter) code, data = self._Call(SPORT_API_ID_SIT, parameter)
return code return code
#1010 #1010
def RiseSit(self): def RiseSit(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_RISESIT, parameter) code, data = self._Call(SPORT_API_ID_RISESIT, parameter)
return code return code
# 1011 # 1011
def SwitchGait(self, t: int): def SwitchGait(self, t: int):
p = {} p = {}
p["data"] = t p["data"] = t
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_SWITCHGAIT, parameter) code, data = self._Call(SPORT_API_ID_SWITCHGAIT, parameter)
return code return code
# 1012 # 1012
def Trigger(self): def Trigger(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_TRIGGER, parameter) code, data = self._Call(SPORT_API_ID_TRIGGER, parameter)
return code return code
# 1013 # 1013
def BodyHeight(self, height: float): def BodyHeight(self, height: float):
p = {} p = {}
p["data"] = height p["data"] = height
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_BODYHEIGHT, parameter) code, data = self._Call(SPORT_API_ID_BODYHEIGHT, parameter)
return code return code
# 1014 # 1014
def FootRaiseHeight(self, height: float): def FootRaiseHeight(self, height: float):
p = {} p = {}
p["data"] = height p["data"] = height
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_FOOTRAISEHEIGHT, parameter) code, data = self._Call(SPORT_API_ID_FOOTRAISEHEIGHT, parameter)
return code return code
# 1015 # 1015
def SpeedLevel(self, level: int): def SpeedLevel(self, level: int):
p = {} p = {}
p["data"] = level p["data"] = level
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_SPEEDLEVEL, parameter) code, data = self._Call(SPORT_API_ID_SPEEDLEVEL, parameter)
return code return code
# 1016 # 1016
def Hello(self): def Hello(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_HELLO, parameter) code, data = self._Call(SPORT_API_ID_HELLO, parameter)
return code return code
# 1017 # 1017
def Stretch(self): def Stretch(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_STRETCH, parameter) code, data = self._Call(SPORT_API_ID_STRETCH, parameter)
return code return code
# 1018 # 1018
def TrajectoryFollow(self, path: list): def TrajectoryFollow(self, path: list):
l = len(path) l = len(path)
if l != SPORT_PATH_POINT_SIZE: if l != SPORT_PATH_POINT_SIZE:
return SPORT_ERR_CLIENT_POINT_PATH return SPORT_ERR_CLIENT_POINT_PATH
path_p = [] path_p = []
for i in range(l): for i in range(l):
point = path[i] point = path[i]
p = {} p = {}
p["t_from_start"] = point.timeFromStart p["t_from_start"] = point.timeFromStart
p["x"] = point.x p["x"] = point.x
p["y"] = point.y p["y"] = point.y
p["yaw"] = point.yaw p["yaw"] = point.yaw
p["vx"] = point.vx p["vx"] = point.vx
p["vy"] = point.vy p["vy"] = point.vy
p["vyaw"] = point.vyaw p["vyaw"] = point.vyaw
path_p.append(p) path_p.append(p)
parameter = json.dumps(path_p) parameter = json.dumps(path_p)
code = self._CallNoReply(SPORT_API_ID_TRAJECTORYFOLLOW, parameter) code = self._CallNoReply(SPORT_API_ID_TRAJECTORYFOLLOW, parameter)
return code return code
# 1019 # 1019
def ContinuousGait(self, flag: int): def ContinuousGait(self, flag: int):
p = {} p = {}
p["data"] = flag p["data"] = flag
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_CONTINUOUSGAIT, parameter) code, data = self._Call(SPORT_API_ID_CONTINUOUSGAIT, parameter)
return code return code
# # 1020 # # 1020
# def Content(self): # def Content(self):
# p = {} # p = {}
# parameter = json.dumps(p) # parameter = json.dumps(p)
# code, data = self._Call(SPORT_API_ID_CONTENT, parameter) # code, data = self._Call(SPORT_API_ID_CONTENT, parameter)
# return code # return code
# 1021 # 1021
def Wallow(self): def Wallow(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_WALLOW, parameter) code, data = self._Call(SPORT_API_ID_WALLOW, parameter)
return code return code
# 1022 # 1022
def Dance1(self): def Dance1(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_DANCE1, parameter) code, data = self._Call(SPORT_API_ID_DANCE1, parameter)
return code return code
# 1023 # 1023
def Dance2(self): def Dance2(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_DANCE2, parameter) code, data = self._Call(SPORT_API_ID_DANCE2, parameter)
return code return code
# 1025 # 1025
def GetFootRaiseHeight(self): def GetFootRaiseHeight(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_GETFOOTRAISEHEIGHT, parameter) code, data = self._Call(SPORT_API_ID_GETFOOTRAISEHEIGHT, parameter)
if code == 0: if code == 0:
d = json.loads(data) d = json.loads(data)
return code, d["data"] return code, d["data"]
else: else:
return code, None return code, None
# 1026 # 1026
def GetSpeedLevel(self): def GetSpeedLevel(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_GETSPEEDLEVEL, parameter) code, data = self._Call(SPORT_API_ID_GETSPEEDLEVEL, parameter)
if code == 0: if code == 0:
d = json.loads(data) d = json.loads(data)
return code, d["data"] return code, d["data"]
else: else:
return code, None return code, None
# 1027 # 1027
def SwitchJoystick(self, on: bool): def SwitchJoystick(self, on: bool):
p = {} p = {}
p["data"] = on p["data"] = on
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_SWITCHJOYSTICK, parameter) code, data = self._Call(SPORT_API_ID_SWITCHJOYSTICK, parameter)
return code return code
# 1028 # 1028
def Pose(self, flag: bool): def Pose(self, flag: bool):
p = {} p = {}
p["data"] = flag p["data"] = flag
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_POSE, parameter) code, data = self._Call(SPORT_API_ID_POSE, parameter)
return code return code
# 1029 # 1029
def Scrape(self): def Scrape(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_SCRAPE, parameter) code, data = self._Call(SPORT_API_ID_SCRAPE, parameter)
return code return code
# 1030 # 1030
def FrontFlip(self): def FrontFlip(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_FRONTFLIP, parameter) code, data = self._Call(SPORT_API_ID_FRONTFLIP, parameter)
return code return code
# 1031 # 1031
def FrontJump(self): def FrontJump(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_FRONTJUMP, parameter) code, data = self._Call(SPORT_API_ID_FRONTJUMP, parameter)
return code return code
# 1032 # 1032
def FrontPounce(self): def FrontPounce(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_FRONTPOUNCE, parameter) code, data = self._Call(SPORT_API_ID_FRONTPOUNCE, parameter)
return code return code
# 1033 # 1033
def WiggleHips(self): def WiggleHips(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_WIGGLEHIPS, parameter) code, data = self._Call(SPORT_API_ID_WIGGLEHIPS, parameter)
return code return code
# 1034 # 1034
def GetState(self, keys: list): def GetState(self, keys: list):
parameter = json.dumps(keys) parameter = json.dumps(keys)
code, data = self._Call(SPORT_API_ID_GETSTATE, parameter) code, data = self._Call(SPORT_API_ID_GETSTATE, parameter)
if code == 0: if code == 0:
return code, json.loads(data) return code, json.loads(data)
else: else:
return code, None return code, None
# 1035 # 1035
def EconomicGait(self, flag: bool): def EconomicGait(self, flag: bool):
p = {} p = {}
p["data"] = flag p["data"] = flag
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_ECONOMICGAIT, parameter) code, data = self._Call(SPORT_API_ID_ECONOMICGAIT, parameter)
return code return code
# 1036 # 1036
def Heart(self): def Heart(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(SPORT_API_ID_HEART, parameter) code, data = self._Call(SPORT_API_ID_HEART, parameter)
return code return code

32
unitree_sdk2py/go2/video/video_api.py
View File

@ -1,16 +1,16 @@
""" """
" service name " service name
""" """
VIDEO_SERVICE_NAME = "videohub" VIDEO_SERVICE_NAME = "videohub"
""" """
" service api version " service api version
""" """
VIDEO_API_VERSION = "1.0.0.1" VIDEO_API_VERSION = "1.0.0.1"
""" """
" api id " api id
""" """
VIDEO_API_ID_GETIMAGESAMPLE = 1001 VIDEO_API_ID_GETIMAGESAMPLE = 1001

46
unitree_sdk2py/go2/video/video_client.py
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@ -1,23 +1,23 @@
import json import json
from ...rpc.client import Client from ...rpc.client import Client
from .video_api import * from .video_api import *
""" """
" class VideoClient " class VideoClient
""" """
class VideoClient(Client): class VideoClient(Client):
def __init__(self): def __init__(self):
super().__init__(VIDEO_SERVICE_NAME, False) super().__init__(VIDEO_SERVICE_NAME, False)
def Init(self): def Init(self):
# set api version # set api version
self._SetApiVerson(VIDEO_API_VERSION) self._SetApiVerson(VIDEO_API_VERSION)
# regist api # regist api
self._RegistApi(VIDEO_API_ID_GETIMAGESAMPLE, 0) self._RegistApi(VIDEO_API_ID_GETIMAGESAMPLE, 0)
# 1001 # 1001
def GetImageSample(self): def GetImageSample(self):
return self._CallBinary(VIDEO_API_ID_GETIMAGESAMPLE, []) return self._CallBinary(VIDEO_API_ID_GETIMAGESAMPLE, [])

42
unitree_sdk2py/go2/vui/vui_api.py
View File

@ -1,21 +1,21 @@
""" """
" service name " service name
""" """
VUI_SERVICE_NAME = "vui" VUI_SERVICE_NAME = "vui"
""" """
" service api version " service api version
""" """
VUI_API_VERSION = "1.0.0.1" VUI_API_VERSION = "1.0.0.1"
""" """
" api id " api id
""" """
VUI_API_ID_SETSWITCH = 1001 VUI_API_ID_SETSWITCH = 1001
VUI_API_ID_GETSWITCH = 1002 VUI_API_ID_GETSWITCH = 1002
VUI_API_ID_SETVOLUME = 1003 VUI_API_ID_SETVOLUME = 1003
VUI_API_ID_GETVOLUME = 1004 VUI_API_ID_GETVOLUME = 1004
VUI_API_ID_SETBRIGHTNESS = 1005 VUI_API_ID_SETBRIGHTNESS = 1005
VUI_API_ID_GETBRIGHTNESS = 1006 VUI_API_ID_GETBRIGHTNESS = 1006

170
unitree_sdk2py/go2/vui/vui_client.py
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@ -1,86 +1,86 @@
import json import json
from ...rpc.client import Client from ...rpc.client import Client
from .vui_api import * from .vui_api import *
""" """
" class VideoClient " class VideoClient
""" """
class VuiClient(Client): class VuiClient(Client):
def __init__(self): def __init__(self):
super().__init__(VUI_SERVICE_NAME, False) super().__init__(VUI_SERVICE_NAME, False)
def Init(self): def Init(self):
# set api version # set api version
self._SetApiVerson(VUI_API_VERSION) self._SetApiVerson(VUI_API_VERSION)
# regist api # regist api
self._RegistApi(VUI_API_ID_SETSWITCH, 0) self._RegistApi(VUI_API_ID_SETSWITCH, 0)
self._RegistApi(VUI_API_ID_GETSWITCH, 0) self._RegistApi(VUI_API_ID_GETSWITCH, 0)
self._RegistApi(VUI_API_ID_SETVOLUME, 0) self._RegistApi(VUI_API_ID_SETVOLUME, 0)
self._RegistApi(VUI_API_ID_GETVOLUME, 0) self._RegistApi(VUI_API_ID_GETVOLUME, 0)
self._RegistApi(VUI_API_ID_SETBRIGHTNESS, 0) self._RegistApi(VUI_API_ID_SETBRIGHTNESS, 0)
self._RegistApi(VUI_API_ID_GETBRIGHTNESS, 0) self._RegistApi(VUI_API_ID_GETBRIGHTNESS, 0)
# 1001 # 1001
def SetSwitch(self, enable: int): def SetSwitch(self, enable: int):
p = {} p = {}
p["enable"] = enable p["enable"] = enable
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(VUI_API_ID_SETSWITCH, parameter) code, data = self._Call(VUI_API_ID_SETSWITCH, parameter)
return code return code
# 1002 # 1002
def GetSwitch(self): def GetSwitch(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(VUI_API_ID_GETSWITCH, parameter) code, data = self._Call(VUI_API_ID_GETSWITCH, parameter)
if code == 0: if code == 0:
d = json.loads(data) d = json.loads(data)
return code, d["enable"] return code, d["enable"]
else: else:
return code, None return code, None
# 1003 # 1003
def SetVolume(self, level: int): def SetVolume(self, level: int):
p = {} p = {}
p["volume"] = level p["volume"] = level
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(VUI_API_ID_SETVOLUME, parameter) code, data = self._Call(VUI_API_ID_SETVOLUME, parameter)
return code return code
# 1006 # 1006
def GetVolume(self): def GetVolume(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(VUI_API_ID_GETVOLUME, parameter) code, data = self._Call(VUI_API_ID_GETVOLUME, parameter)
if code == 0: if code == 0:
d = json.loads(data) d = json.loads(data)
return code, d["volume"] return code, d["volume"]
else: else:
return code, None return code, None
# 1005 # 1005
def SetBrightness(self, level: int): def SetBrightness(self, level: int):
p = {} p = {}
p["brightness"] = level p["brightness"] = level
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(VUI_API_ID_SETBRIGHTNESS, parameter) code, data = self._Call(VUI_API_ID_SETBRIGHTNESS, parameter)
return code return code
# 1006 # 1006
def GetBrightness(self): def GetBrightness(self):
p = {} p = {}
parameter = json.dumps(p) parameter = json.dumps(p)
code, data = self._Call(VUI_API_ID_GETBRIGHTNESS, parameter) code, data = self._Call(VUI_API_ID_GETBRIGHTNESS, parameter)
if code == 0: if code == 0:
d = json.loads(data) d = json.loads(data)
return code, d["brightness"] return code, d["brightness"]
else: else:
return code, None return code, None

20
unitree_sdk2py/idl/__init__.py
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@ -1,10 +1,10 @@
from . import builtin_interfaces, geometry_msgs, sensor_msgs, std_msgs, unitree_go, unitree_api from . import builtin_interfaces, geometry_msgs, sensor_msgs, std_msgs, unitree_go, unitree_api
__all__ = [ __all__ = [
"builtin_interfaces", "builtin_interfaces",
"geometry_msgs", "geometry_msgs",
"sensor_msgs", "sensor_msgs",
"std_msgs", "std_msgs",
"unitree_go", "unitree_go",
"unitree_api", "unitree_api",
] ]

18
unitree_sdk2py/idl/builtin_interfaces/__init__.py
View File

@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: builtin_interfaces Module: builtin_interfaces
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/builtin_interfaces/msg/__init__.py
View File

@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: builtin_interfaces.msg Module: builtin_interfaces.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

56
unitree_sdk2py/idl/builtin_interfaces/msg/dds_/_Time_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: builtin_interfaces.msg.dds_ Module: builtin_interfaces.msg.dds_
IDL file: Time_.idl IDL file: Time_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import builtin_interfaces # import builtin_interfaces
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Time_(idl.IdlStruct, typename="builtin_interfaces.msg.dds_.Time_"): class Time_(idl.IdlStruct, typename="builtin_interfaces.msg.dds_.Time_"):
sec: types.int32 sec: types.int32
nanosec: types.uint32 nanosec: types.uint32

18
unitree_sdk2py/idl/builtin_interfaces/msg/dds_/__init__.py
View File

@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: builtin_interfaces.msg.dds_ Module: builtin_interfaces.msg.dds_
""" """
from ._Time_ import Time_ from ._Time_ import Time_
__all__ = ["Time_", ] __all__ = ["Time_", ]

410
unitree_sdk2py/idl/default.py
View File

@ -1,205 +1,205 @@
from .builtin_interfaces.msg.dds_ import * from .builtin_interfaces.msg.dds_ import *
from .std_msgs.msg.dds_ import * from .std_msgs.msg.dds_ import *
from .geometry_msgs.msg.dds_ import * from .geometry_msgs.msg.dds_ import *
from .nav_msgs.msg.dds_ import * from .nav_msgs.msg.dds_ import *
from .sensor_msgs.msg.dds_ import * from .sensor_msgs.msg.dds_ import *
from .unitree_go.msg.dds_ import * from .unitree_go.msg.dds_ import *
from .unitree_api.msg.dds_ import * from .unitree_api.msg.dds_ import *
""" """
" builtin_interfaces_msgs.msg.dds_ dafault " builtin_interfaces_msgs.msg.dds_ dafault
""" """
def builtin_interfaces_msgs_msg_dds__Time_(): def builtin_interfaces_msgs_msg_dds__Time_():
return Time_(0, 0) return Time_(0, 0)
""" """
" std_msgs.msg.dds_ dafault " std_msgs.msg.dds_ dafault
""" """
def std_msgs_msg_dds__Header_(): def std_msgs_msg_dds__Header_():
return Header_(builtin_interfaces_msgs_msg_dds__Time_(), "") return Header_(builtin_interfaces_msgs_msg_dds__Time_(), "")
def std_msgs_msg_dds__String_(): def std_msgs_msg_dds__String_():
return String_("") return String_("")
""" """
" geometry_msgs.msg.dds_ dafault " geometry_msgs.msg.dds_ dafault
""" """
def geometry_msgs_msg_dds__Point_(): def geometry_msgs_msg_dds__Point_():
return Point_(0.0, 0.0, 0.0) return Point_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__Point32_(): def geometry_msgs_msg_dds__Point32_():
return Point32_(0.0, 0.0, 0.0) return Point32_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__PointStamped_(): def geometry_msgs_msg_dds__PointStamped_():
return PointStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Point_()) return PointStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Point_())
def geometry_msgs_msg_dds__Quaternion_(): def geometry_msgs_msg_dds__Quaternion_():
return Quaternion_(0.0, 0.0, 0.0, 0.0) return Quaternion_(0.0, 0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__Vector3_(): def geometry_msgs_msg_dds__Vector3_():
return Vector3_(0.0, 0.0, 0.0) return Vector3_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__Pose_(): def geometry_msgs_msg_dds__Pose_():
return Pose_(geometry_msgs_msg_dds__Point_(), geometry_msgs_msg_dds__Quaternion_()) return Pose_(geometry_msgs_msg_dds__Point_(), geometry_msgs_msg_dds__Quaternion_())
def geometry_msgs_msg_dds__Pose2D_(): def geometry_msgs_msg_dds__Pose2D_():
return Pose2D_(0.0, 0.0, 0.0) return Pose2D_(0.0, 0.0, 0.0)
def geometry_msgs_msg_dds__PoseStamped_(): def geometry_msgs_msg_dds__PoseStamped_():
return PoseStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Pose_()) return PoseStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Pose_())
def geometry_msgs_msg_dds__PoseWithCovariance_(): def geometry_msgs_msg_dds__PoseWithCovariance_():
return PoseWithCovariance_(geometry_msgs_msg_dds__Pose_(), [ return PoseWithCovariance_(geometry_msgs_msg_dds__Pose_(), [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
]) ])
def geometry_msgs_msg_dds__PoseWithCovarianceStamped_(): def geometry_msgs_msg_dds__PoseWithCovarianceStamped_():
return PoseWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__PoseWithCovariance_()) return PoseWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__PoseWithCovariance_())
def geometry_msgs_msg_dds__QuaternionStamped_(): def geometry_msgs_msg_dds__QuaternionStamped_():
return QuaternionStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Quaternion_()) return QuaternionStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Quaternion_())
def geometry_msgs_msg_dds__Twist_(): def geometry_msgs_msg_dds__Twist_():
return Twist_(geometry_msgs_msg_dds__Vector3_(), geometry_msgs_msg_dds__Vector3_()) return Twist_(geometry_msgs_msg_dds__Vector3_(), geometry_msgs_msg_dds__Vector3_())
def geometry_msgs_msg_dds__TwistStamped_(): def geometry_msgs_msg_dds__TwistStamped_():
return TwistStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Twist_()) return TwistStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__Twist_())
def geometry_msgs_msg_dds__TwistWithCovariance_(): def geometry_msgs_msg_dds__TwistWithCovariance_():
return TwistWithCovariance_(geometry_msgs_msg_dds__Twist_(), [ return TwistWithCovariance_(geometry_msgs_msg_dds__Twist_(), [
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
]) ])
def geometry_msgs_msg_dds__TwistWithCovarianceStamped_(): def geometry_msgs_msg_dds__TwistWithCovarianceStamped_():
return TwistWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__TwistWithCovariance_()) return TwistWithCovarianceStamped_(std_msgs_msg_dds__Header_(), geometry_msgs_msg_dds__TwistWithCovariance_())
""" """
" nav_msgs.msg.dds_ dafault " nav_msgs.msg.dds_ dafault
""" """
def nav_msgs_msg_dds__MapMetaData_(): def nav_msgs_msg_dds__MapMetaData_():
return MapMetaData_(builtin_interfaces_msgs_msg_dds__Time_(), 0, 0, geometry_msgs_msg_dds__Pose_()) return MapMetaData_(builtin_interfaces_msgs_msg_dds__Time_(), 0, 0, geometry_msgs_msg_dds__Pose_())
def nav_msgs_msg_dds__OccupancyGrid_(): def nav_msgs_msg_dds__OccupancyGrid_():
return OccupancyGrid_(std_msgs_msg_dds__Header_(), nav_msgs_msg_dds__MapMetaData_(), []) return OccupancyGrid_(std_msgs_msg_dds__Header_(), nav_msgs_msg_dds__MapMetaData_(), [])
def nav_msgs_msg_dds__Odometry_(): def nav_msgs_msg_dds__Odometry_():
return Odometry_(std_msgs_msg_dds__Header_(), "", geometry_msgs_msg_dds__PoseWithCovariance_(), geometry_msgs_msg_dds__TwistWithCovariance_()) return Odometry_(std_msgs_msg_dds__Header_(), "", geometry_msgs_msg_dds__PoseWithCovariance_(), geometry_msgs_msg_dds__TwistWithCovariance_())
""" """
" sensor_msgs.msg.dds_ dafault " sensor_msgs.msg.dds_ dafault
""" """
def sensor_msgs_msg_dds__PointField_Constants_PointField_(): def sensor_msgs_msg_dds__PointField_Constants_PointField_():
return PointField_("", 0, 0, 0) return PointField_("", 0, 0, 0)
def sensor_msgs_msg_dds__PointField_Constants_PointCloud2_(): def sensor_msgs_msg_dds__PointField_Constants_PointCloud2_():
return PointCloud2_(std_msgs_msg_dds__Header_(), 0, 0, [], False, 0, 0, [], False) return PointCloud2_(std_msgs_msg_dds__Header_(), 0, 0, [], False, 0, 0, [], False)
""" """
" unitree_go.msg.dds_ dafault " unitree_go.msg.dds_ dafault
""" """
def unitree_go_msg_dds__AudioData_(): def unitree_go_msg_dds__AudioData_():
return AudioData_(0, []) return AudioData_(0, [])
def unitree_go_msg_dds__BmsCmd_(): def unitree_go_msg_dds__BmsCmd_():
return BmsCmd_(0, [0, 0, 0]) return BmsCmd_(0, [0, 0, 0])
def unitree_go_msg_dds__BmsState_(): def unitree_go_msg_dds__BmsState_():
return BmsState_(0, 0, 0, 0, 0, 0, [0, 0], [0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) return BmsState_(0, 0, 0, 0, 0, 0, [0, 0], [0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])
def unitree_go_msg_dds__Error_(): def unitree_go_msg_dds__Error_():
return Error_(0, 0) return Error_(0, 0)
def unitree_go_msg_dds__Go2FrontVideoData_(): def unitree_go_msg_dds__Go2FrontVideoData_():
return Go2FrontVideoData_(0, [], [], []) return Go2FrontVideoData_(0, [], [], [])
def unitree_go_msg_dds__HeightMap_(): def unitree_go_msg_dds__HeightMap_():
return HeightMap_(0.0, "", 0.0, 0, 0, [0.0, 0.0], []) return HeightMap_(0.0, "", 0.0, 0, 0, [0.0, 0.0], [])
def unitree_go_msg_dds__IMUState_(): def unitree_go_msg_dds__IMUState_():
return IMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0) return IMUState_([0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0)
def unitree_go_msg_dds__InterfaceConfig_(): def unitree_go_msg_dds__InterfaceConfig_():
return InterfaceConfig_(0, 0, [0, 0]) return InterfaceConfig_(0, 0, [0, 0])
def unitree_go_msg_dds__LidarState_(): def unitree_go_msg_dds__LidarState_():
return LidarState_(0.0, "", "", "", 0.0, 0.0, 0, 0.0, 0.0, 0, 0, 0.0, 0.0, [0.0, 0.0, 0.0], 0.0, 0, 0) return LidarState_(0.0, "", "", "", 0.0, 0.0, 0, 0.0, 0.0, 0, 0, 0.0, 0.0, [0.0, 0.0, 0.0], 0.0, 0, 0)
def unitree_go_msg_dds__MotorCmd_(): def unitree_go_msg_dds__MotorCmd_():
return MotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, [0, 0, 0]) return MotorCmd_(0, 0.0, 0.0, 0.0, 0.0, 0.0, [0, 0, 0])
def unitree_go_msg_dds__MotorState_(): def unitree_go_msg_dds__MotorState_():
return MotorState_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0, [0, 0]) return MotorState_(0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0, [0, 0])
def unitree_go_msg_dds__LowCmd_(): def unitree_go_msg_dds__LowCmd_():
return LowCmd_([0, 0], 0, 0, [0, 0], [0, 0], 0, [unitree_go_msg_dds__MotorCmd_() for i in range(20)], unitree_go_msg_dds__BmsCmd_(), return LowCmd_([0, 0], 0, 0, [0, 0], [0, 0], 0, [unitree_go_msg_dds__MotorCmd_() for i in range(20)], unitree_go_msg_dds__BmsCmd_(),
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0], 0, 0, 0) [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0], 0, 0, 0)
def unitree_go_msg_dds__LowState_(): def unitree_go_msg_dds__LowState_():
return LowState_([0, 0], 0, 0, [0, 0], [0, 0], 0, unitree_go_msg_dds__IMUState_(), [unitree_go_msg_dds__MotorState_() for i in range(20)], return LowState_([0, 0], 0, 0, [0, 0], [0, 0], 0, unitree_go_msg_dds__IMUState_(), [unitree_go_msg_dds__MotorState_() for i in range(20)],
unitree_go_msg_dds__BmsState_(), [0, 0, 0, 0], [0, 0, 0, 0], 0, unitree_go_msg_dds__BmsState_(), [0, 0, 0, 0], [0, 0, 0, 0], 0,
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
0, 0, 0, 0, 0.0, 0.0, [0, 0, 0, 0], 0, 0) 0, 0, 0, 0, 0.0, 0.0, [0, 0, 0, 0], 0, 0)
def unitree_go_msg_dds__Req_(): def unitree_go_msg_dds__Req_():
return Req_("", "") return Req_("", "")
def unitree_go_msg_dds__Res_(): def unitree_go_msg_dds__Res_():
return Res_("", [], "") return Res_("", [], "")
def unitree_go_msg_dds__TimeSpec_(): def unitree_go_msg_dds__TimeSpec_():
return TimeSpec_(0, 0) return TimeSpec_(0, 0)
def unitree_go_msg_dds__PathPoint_(): def unitree_go_msg_dds__PathPoint_():
return PathPoint_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) return PathPoint_(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
def unitree_go_msg_dds__SportModeState_(): def unitree_go_msg_dds__SportModeState_():
return SportModeState_(unitree_go_msg_dds__TimeSpec_(), 0, unitree_go_msg_dds__IMUState_(), 0, 0, 0, 0.0, [0.0, 0.0, 0.0], 0.0, return SportModeState_(unitree_go_msg_dds__TimeSpec_(), 0, unitree_go_msg_dds__IMUState_(), 0, 0, 0, 0.0, [0.0, 0.0, 0.0], 0.0,
[0.0, 0.0, 0.0], 0.0, [0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0], 0.0, [0.0, 0.0, 0.0, 0.0], [0, 0, 0, 0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],[unitree_go_msg_dds__PathPoint_() for i in range(10)]) [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],[unitree_go_msg_dds__PathPoint_() for i in range(10)])
def unitree_go_msg_dds__UwbState_(): def unitree_go_msg_dds__UwbState_():
return UwbState_([0, 0], 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, [0.0, 0.0], 0, 0, 0) return UwbState_([0, 0], 0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, [0.0, 0.0], 0, 0, 0)
def unitree_go_msg_dds__UwbSwitch_(): def unitree_go_msg_dds__UwbSwitch_():
return UwbSwitch_(0) return UwbSwitch_(0)
def unitree_go_msg_dds__WirelessController_(): def unitree_go_msg_dds__WirelessController_():
return WirelessController_(0.0, 0.0, 0.0, 0.0, 0) return WirelessController_(0.0, 0.0, 0.0, 0.0, 0)
""" """
" unitree_api.msg.dds_ dafault " unitree_api.msg.dds_ dafault
""" """
def unitree_api_msg_dds__RequestIdentity_(): def unitree_api_msg_dds__RequestIdentity_():
return RequestIdentity_(0, 0) return RequestIdentity_(0, 0)
def unitree_api_msg_dds__RequestLease_(): def unitree_api_msg_dds__RequestLease_():
return RequestLease_(0) return RequestLease_(0)
def unitree_api_msg_dds__RequestPolicy_(): def unitree_api_msg_dds__RequestPolicy_():
return RequestPolicy_(0, False) return RequestPolicy_(0, False)
def unitree_api_msg_dds__RequestHeader_(): def unitree_api_msg_dds__RequestHeader_():
return RequestHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__RequestLease_(), unitree_api_msg_dds__RequestPolicy_()) return RequestHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__RequestLease_(), unitree_api_msg_dds__RequestPolicy_())
def unitree_api_msg_dds__Request_(): def unitree_api_msg_dds__Request_():
return Request_(unitree_api_msg_dds__RequestHeader_(), "", []) return Request_(unitree_api_msg_dds__RequestHeader_(), "", [])
def unitree_api_msg_dds__ResponseStatus_(): def unitree_api_msg_dds__ResponseStatus_():
return ResponseStatus_(0) return ResponseStatus_(0)
def unitree_api_msg_dds__ResponseHeader_(): def unitree_api_msg_dds__ResponseHeader_():
return ResponseHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__ResponseStatus_()) return ResponseHeader_(unitree_api_msg_dds__RequestIdentity_(), unitree_api_msg_dds__ResponseStatus_())
def unitree_api_msg_dds__Response_(): def unitree_api_msg_dds__Response_():
return Response_(unitree_api_msg_dds__ResponseHeader_(), "", []) return Response_(unitree_api_msg_dds__ResponseHeader_(), "", [])

18
unitree_sdk2py/idl/geometry_msgs/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs Module: geometry_msgs
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/geometry_msgs/msg/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg Module: geometry_msgs.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

58
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point32_.py
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@ -1,29 +1,29 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Point32_.idl IDL file: Point32_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Point32_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Point32_"): class Point32_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Point32_"):
x: types.float32 x: types.float32
y: types.float32 y: types.float32
z: types.float32 z: types.float32

62
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PointStamped_.py
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@ -1,31 +1,31 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: PointStamped_.idl IDL file: PointStamped_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class PointStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PointStamped_"): class PointStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PointStamped_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
point: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Point_' point: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Point_'

58
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Point_.py
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@ -1,29 +1,29 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Point_.idl IDL file: Point_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Point_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Point_"): class Point_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Point_"):
x: types.float64 x: types.float64
y: types.float64 y: types.float64
z: types.float64 z: types.float64

58
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose2D_.py
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@ -1,29 +1,29 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Pose2D_.idl IDL file: Pose2D_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Pose2D_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Pose2D_"): class Pose2D_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Pose2D_"):
x: types.float64 x: types.float64
y: types.float64 y: types.float64
theta: types.float64 theta: types.float64

64
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseStamped_.py
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@ -1,32 +1,32 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: PoseStamped_.idl IDL file: PoseStamped_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class PoseStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseStamped_"): class PoseStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseStamped_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_' pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_'

64
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovarianceStamped_.py
View File

@ -1,32 +1,32 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: PoseWithCovarianceStamped_.idl IDL file: PoseWithCovarianceStamped_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class PoseWithCovarianceStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseWithCovarianceStamped_"): class PoseWithCovarianceStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseWithCovarianceStamped_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.PoseWithCovariance_' pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.PoseWithCovariance_'

56
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_PoseWithCovariance_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: PoseWithCovariance_.idl IDL file: PoseWithCovariance_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class PoseWithCovariance_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseWithCovariance_"): class PoseWithCovariance_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.PoseWithCovariance_"):
pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_' pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_'
covariance: types.array[types.float64, 36] covariance: types.array[types.float64, 36]

56
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Pose_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Pose_.idl IDL file: Pose_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Pose_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Pose_"): class Pose_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Pose_"):
position: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Point_' position: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Point_'
orientation: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Quaternion_' orientation: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Quaternion_'

64
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_QuaternionStamped_.py
View File

@ -1,32 +1,32 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: QuaternionStamped_.idl IDL file: QuaternionStamped_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class QuaternionStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.QuaternionStamped_"): class QuaternionStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.QuaternionStamped_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
quaternion: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Quaternion_' quaternion: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Quaternion_'

60
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Quaternion_.py
View File

@ -1,30 +1,30 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Quaternion_.idl IDL file: Quaternion_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Quaternion_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Quaternion_"): class Quaternion_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Quaternion_"):
x: types.float64 x: types.float64
y: types.float64 y: types.float64
z: types.float64 z: types.float64
w: types.float64 w: types.float64

64
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistStamped_.py
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@ -1,32 +1,32 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: TwistStamped_.idl IDL file: TwistStamped_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class TwistStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistStamped_"): class TwistStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistStamped_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Twist_' twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Twist_'

64
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovarianceStamped_.py
View File

@ -1,32 +1,32 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: TwistWithCovarianceStamped_.idl IDL file: TwistWithCovarianceStamped_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class TwistWithCovarianceStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistWithCovarianceStamped_"): class TwistWithCovarianceStamped_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistWithCovarianceStamped_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.TwistWithCovariance_' twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.TwistWithCovariance_'

56
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_TwistWithCovariance_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: TwistWithCovariance_.idl IDL file: TwistWithCovariance_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class TwistWithCovariance_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistWithCovariance_"): class TwistWithCovariance_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.TwistWithCovariance_"):
twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Twist_' twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Twist_'
covariance: types.array[types.float64, 36] covariance: types.array[types.float64, 36]

56
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Twist_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Twist_.idl IDL file: Twist_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Twist_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Twist_"): class Twist_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Twist_"):
linear: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Vector3_' linear: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Vector3_'
angular: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Vector3_' angular: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Vector3_'

58
unitree_sdk2py/idl/geometry_msgs/msg/dds_/_Vector3_.py
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@ -1,29 +1,29 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
IDL file: Vector3_.idl IDL file: Vector3_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import geometry_msgs # import geometry_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Vector3_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Vector3_"): class Vector3_(idl.IdlStruct, typename="geometry_msgs.msg.dds_.Vector3_"):
x: types.float64 x: types.float64
y: types.float64 y: types.float64
z: types.float64 z: types.float64

46
unitree_sdk2py/idl/geometry_msgs/msg/dds_/__init__.py
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@ -1,23 +1,23 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: geometry_msgs.msg.dds_ Module: geometry_msgs.msg.dds_
""" """
from ._Point32_ import Point32_ from ._Point32_ import Point32_
from ._Point_ import Point_ from ._Point_ import Point_
from ._PointStamped_ import PointStamped_ from ._PointStamped_ import PointStamped_
from ._Pose2D_ import Pose2D_ from ._Pose2D_ import Pose2D_
from ._Pose_ import Pose_ from ._Pose_ import Pose_
from ._PoseStamped_ import PoseStamped_ from ._PoseStamped_ import PoseStamped_
from ._PoseWithCovariance_ import PoseWithCovariance_ from ._PoseWithCovariance_ import PoseWithCovariance_
from ._PoseWithCovarianceStamped_ import PoseWithCovarianceStamped_ from ._PoseWithCovarianceStamped_ import PoseWithCovarianceStamped_
from ._Quaternion_ import Quaternion_ from ._Quaternion_ import Quaternion_
from ._QuaternionStamped_ import QuaternionStamped_ from ._QuaternionStamped_ import QuaternionStamped_
from ._Twist_ import Twist_ from ._Twist_ import Twist_
from ._TwistStamped_ import TwistStamped_ from ._TwistStamped_ import TwistStamped_
from ._TwistWithCovariance_ import TwistWithCovariance_ from ._TwistWithCovariance_ import TwistWithCovariance_
from ._TwistWithCovarianceStamped_ import TwistWithCovarianceStamped_ from ._TwistWithCovarianceStamped_ import TwistWithCovarianceStamped_
from ._Vector3_ import Vector3_ from ._Vector3_ import Vector3_
__all__ = ["Point32_", "Point_", "PointStamped_", "Pose2D_", "Pose_", "PoseStamped_", "PoseWithCovariance_", "PoseWithCovarianceStamped_", "Quaternion_", "QuaternionStamped_", "Twist_", "TwistStamped_", "TwistWithCovariance_", "TwistWithCovarianceStamped_", "Vector3_", ] __all__ = ["Point32_", "Point_", "PointStamped_", "Pose2D_", "Pose_", "PoseStamped_", "PoseWithCovariance_", "PoseWithCovarianceStamped_", "Quaternion_", "QuaternionStamped_", "Twist_", "TwistStamped_", "TwistWithCovariance_", "TwistWithCovarianceStamped_", "Vector3_", ]

18
unitree_sdk2py/idl/nav_msgs/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: nav_msgs Module: nav_msgs
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/nav_msgs/msg/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: nav_msgs.msg Module: nav_msgs.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

70
unitree_sdk2py/idl/nav_msgs/msg/dds_/_MapMetaData_.py
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@ -1,35 +1,35 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: nav_msgs.msg.dds_ Module: nav_msgs.msg.dds_
IDL file: MapMetaData_.idl IDL file: MapMetaData_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import nav_msgs # import nav_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import builtin_interfaces.msg.dds_ # import builtin_interfaces.msg.dds_
# import geometry_msgs.msg.dds_ # import geometry_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class MapMetaData_(idl.IdlStruct, typename="nav_msgs.msg.dds_.MapMetaData_"): class MapMetaData_(idl.IdlStruct, typename="nav_msgs.msg.dds_.MapMetaData_"):
map_load_time: 'unitree_sdk2py.idl.builtin_interfaces.msg.dds_.Time_' map_load_time: 'unitree_sdk2py.idl.builtin_interfaces.msg.dds_.Time_'
resolution: types.float32 resolution: types.float32
width: types.uint32 width: types.uint32
height: types.uint32 height: types.uint32
origin: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_' origin: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.Pose_'

66
unitree_sdk2py/idl/nav_msgs/msg/dds_/_OccupancyGrid_.py
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@ -1,33 +1,33 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: nav_msgs.msg.dds_ Module: nav_msgs.msg.dds_
IDL file: OccupancyGrid_.idl IDL file: OccupancyGrid_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import nav_msgs # import nav_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class OccupancyGrid_(idl.IdlStruct, typename="nav_msgs.msg.dds_.OccupancyGrid_"): class OccupancyGrid_(idl.IdlStruct, typename="nav_msgs.msg.dds_.OccupancyGrid_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
info: 'unitree_sdk2py.idl.nav_msgs.msg.dds_.MapMetaData_' info: 'unitree_sdk2py.idl.nav_msgs.msg.dds_.MapMetaData_'
data: types.sequence[types.uint8] data: types.sequence[types.uint8]

70
unitree_sdk2py/idl/nav_msgs/msg/dds_/_Odometry_.py
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@ -1,35 +1,35 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: nav_msgs.msg.dds_ Module: nav_msgs.msg.dds_
IDL file: Odometry_.idl IDL file: Odometry_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import nav_msgs # import nav_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import geometry_msgs.msg.dds_ # import geometry_msgs.msg.dds_
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Odometry_(idl.IdlStruct, typename="nav_msgs.msg.dds_.Odometry_"): class Odometry_(idl.IdlStruct, typename="nav_msgs.msg.dds_.Odometry_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
child_frame_id: str child_frame_id: str
pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.PoseWithCovariance_' pose: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.PoseWithCovariance_'
twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.TwistWithCovariance_' twist: 'unitree_sdk2py.idl.geometry_msgs.msg.dds_.TwistWithCovariance_'

22
unitree_sdk2py/idl/nav_msgs/msg/dds_/__init__.py
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@ -1,11 +1,11 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: nav_msgs.msg.dds_ Module: nav_msgs.msg.dds_
""" """
from ._MapMetaData_ import MapMetaData_ from ._MapMetaData_ import MapMetaData_
from ._OccupancyGrid_ import OccupancyGrid_ from ._OccupancyGrid_ import OccupancyGrid_
from ._Odometry_ import Odometry_ from ._Odometry_ import Odometry_
__all__ = ["MapMetaData_", "OccupancyGrid_", "Odometry_", ] __all__ = ["MapMetaData_", "OccupancyGrid_", "Odometry_", ]

18
unitree_sdk2py/idl/sensor_msgs/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs Module: sensor_msgs
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/sensor_msgs/msg/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs.msg Module: sensor_msgs.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

56
unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/_PointField_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs.msg.dds_.PointField_Constants Module: sensor_msgs.msg.dds_.PointField_Constants
IDL file: PointField_.idl IDL file: PointField_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import sensor_msgs # import sensor_msgs
INT8_ = 1 INT8_ = 1
UINT8_ = 2 UINT8_ = 2
INT16_ = 3 INT16_ = 3
UINT16_ = 4 UINT16_ = 4
INT32_ = 5 INT32_ = 5
UINT32_ = 6 UINT32_ = 6
FLOAT32_ = 7 FLOAT32_ = 7
FLOAT64_ = 8 FLOAT64_ = 8

18
unitree_sdk2py/idl/sensor_msgs/msg/dds_/PointField_Constants/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs.msg.dds_.PointField_Constants Module: sensor_msgs.msg.dds_.PointField_Constants
""" """
from ._PointField_ import FLOAT32_, FLOAT64_, INT16_, INT32_, INT8_, UINT16_, UINT32_, UINT8_ from ._PointField_ import FLOAT32_, FLOAT64_, INT16_, INT32_, INT8_, UINT16_, UINT32_, UINT8_
__all__ = ["FLOAT32_", "FLOAT64_", "INT16_", "INT32_", "INT8_", "UINT16_", "UINT32_", "UINT8_", ] __all__ = ["FLOAT32_", "FLOAT64_", "INT16_", "INT32_", "INT8_", "UINT16_", "UINT32_", "UINT8_", ]

78
unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointCloud2_.py
View File

@ -1,39 +1,39 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs.msg.dds_ Module: sensor_msgs.msg.dds_
IDL file: PointCloud2_.idl IDL file: PointCloud2_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import sensor_msgs # import sensor_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import std_msgs.msg.dds_ # import std_msgs.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class PointCloud2_(idl.IdlStruct, typename="sensor_msgs.msg.dds_.PointCloud2_"): class PointCloud2_(idl.IdlStruct, typename="sensor_msgs.msg.dds_.PointCloud2_"):
header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_' header: 'unitree_sdk2py.idl.std_msgs.msg.dds_.Header_'
height: types.uint32 height: types.uint32
width: types.uint32 width: types.uint32
fields: types.sequence['unitree_sdk2py.idl.sensor_msgs.msg.dds_.PointField_'] fields: types.sequence['unitree_sdk2py.idl.sensor_msgs.msg.dds_.PointField_']
is_bigendian: bool is_bigendian: bool
point_step: types.uint32 point_step: types.uint32
row_step: types.uint32 row_step: types.uint32
data: types.sequence[types.uint8] data: types.sequence[types.uint8]
is_dense: bool is_dense: bool

60
unitree_sdk2py/idl/sensor_msgs/msg/dds_/_PointField_.py
View File

@ -1,30 +1,30 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs.msg.dds_ Module: sensor_msgs.msg.dds_
IDL file: PointField_.idl IDL file: PointField_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import sensor_msgs # import sensor_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class PointField_(idl.IdlStruct, typename="sensor_msgs.msg.dds_.PointField_"): class PointField_(idl.IdlStruct, typename="sensor_msgs.msg.dds_.PointField_"):
name: str name: str
offset: types.uint32 offset: types.uint32
datatype: types.uint8 datatype: types.uint8
count: types.uint32 count: types.uint32

22
unitree_sdk2py/idl/sensor_msgs/msg/dds_/__init__.py
View File

@ -1,11 +1,11 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: sensor_msgs.msg.dds_ Module: sensor_msgs.msg.dds_
""" """
from . import PointField_Constants from . import PointField_Constants
from ._PointCloud2_ import PointCloud2_ from ._PointCloud2_ import PointCloud2_
from ._PointField_ import PointField_ from ._PointField_ import PointField_
__all__ = ["PointField_Constants", "PointCloud2_", "PointField_", ] __all__ = ["PointField_Constants", "PointCloud2_", "PointField_", ]

18
unitree_sdk2py/idl/std_msgs/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: std_msgs Module: std_msgs
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/std_msgs/msg/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: std_msgs.msg Module: std_msgs.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

64
unitree_sdk2py/idl/std_msgs/msg/dds_/_Header_.py
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@ -1,32 +1,32 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: std_msgs.msg.dds_ Module: std_msgs.msg.dds_
IDL file: Header_.idl IDL file: Header_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import std_msgs # import std_msgs
# if TYPE_CHECKING: # if TYPE_CHECKING:
# import builtin_interfaces.msg.dds_ # import builtin_interfaces.msg.dds_
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Header_(idl.IdlStruct, typename="std_msgs.msg.dds_.Header_"): class Header_(idl.IdlStruct, typename="std_msgs.msg.dds_.Header_"):
stamp: 'unitree_sdk2py.idl.builtin_interfaces.msg.dds_.Time_' stamp: 'unitree_sdk2py.idl.builtin_interfaces.msg.dds_.Time_'
frame_id: str frame_id: str

54
unitree_sdk2py/idl/std_msgs/msg/dds_/_String_.py
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@ -1,27 +1,27 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: std_msgs.msg.dds_ Module: std_msgs.msg.dds_
IDL file: String_.idl IDL file: String_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import std_msgs # import std_msgs
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class String_(idl.IdlStruct, typename="std_msgs.msg.dds_.String_"): class String_(idl.IdlStruct, typename="std_msgs.msg.dds_.String_"):
data: str data: str

20
unitree_sdk2py/idl/std_msgs/msg/dds_/__init__.py
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@ -1,10 +1,10 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: std_msgs.msg.dds_ Module: std_msgs.msg.dds_
""" """
from ._Header_ import Header_ from ._Header_ import Header_
from ._String_ import String_ from ._String_ import String_
__all__ = ["Header_", "String_", ] __all__ = ["Header_", "String_", ]

18
unitree_sdk2py/idl/unitree_api/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api Module: unitree_api
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/unitree_api/msg/__init__.py
View File

@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg Module: unitree_api.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

58
unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestHeader_.py
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@ -1,29 +1,29 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: RequestHeader_.idl IDL file: RequestHeader_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class RequestHeader_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestHeader_"): class RequestHeader_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestHeader_"):
identity: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestIdentity_' identity: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestIdentity_'
lease: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestLease_' lease: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestLease_'
policy: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestPolicy_' policy: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestPolicy_'

56
unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestIdentity_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: RequestIdentity_.idl IDL file: RequestIdentity_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class RequestIdentity_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestIdentity_"): class RequestIdentity_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestIdentity_"):
id: types.int64 id: types.int64
api_id: types.int64 api_id: types.int64

54
unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestLease_.py
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@ -1,27 +1,27 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: RequestLease_.idl IDL file: RequestLease_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class RequestLease_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestLease_"): class RequestLease_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestLease_"):
id: types.int64 id: types.int64

56
unitree_sdk2py/idl/unitree_api/msg/dds_/_RequestPolicy_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: RequestPolicy_.idl IDL file: RequestPolicy_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class RequestPolicy_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestPolicy_"): class RequestPolicy_(idl.IdlStruct, typename="unitree_api.msg.dds_.RequestPolicy_"):
priority: types.int32 priority: types.int32
noreply: bool noreply: bool

56
unitree_sdk2py/idl/unitree_api/msg/dds_/_Request_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: Request_.idl IDL file: Request_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Request_(idl.IdlStruct, typename="unitree_api.msg.dds_.Request_"): class Request_(idl.IdlStruct, typename="unitree_api.msg.dds_.Request_"):
header: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestHeader_' header: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestHeader_'
parameter: str parameter: str
binary: types.sequence[types.uint8] binary: types.sequence[types.uint8]

56
unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseHeader_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: ResponseHeader_.idl IDL file: ResponseHeader_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class ResponseHeader_(idl.IdlStruct, typename="unitree_api.msg.dds_.ResponseHeader_"): class ResponseHeader_(idl.IdlStruct, typename="unitree_api.msg.dds_.ResponseHeader_"):
identity: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestIdentity_' identity: 'unitree_sdk2py.idl.unitree_api.msg.dds_.RequestIdentity_'
status: 'unitree_sdk2py.idl.unitree_api.msg.dds_.ResponseStatus_' status: 'unitree_sdk2py.idl.unitree_api.msg.dds_.ResponseStatus_'

54
unitree_sdk2py/idl/unitree_api/msg/dds_/_ResponseStatus_.py
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@ -1,27 +1,27 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: ResponseStatus_.idl IDL file: ResponseStatus_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class ResponseStatus_(idl.IdlStruct, typename="unitree_api.msg.dds_.ResponseStatus_"): class ResponseStatus_(idl.IdlStruct, typename="unitree_api.msg.dds_.ResponseStatus_"):
code: types.int32 code: types.int32

56
unitree_sdk2py/idl/unitree_api/msg/dds_/_Response_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
IDL file: Response_.idl IDL file: Response_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_api # import unitree_api
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Response_(idl.IdlStruct, typename="unitree_api.msg.dds_.Response_"): class Response_(idl.IdlStruct, typename="unitree_api.msg.dds_.Response_"):
header: 'unitree_sdk2py.idl.unitree_api.msg.dds_.ResponseHeader_' header: 'unitree_sdk2py.idl.unitree_api.msg.dds_.ResponseHeader_'
data: str data: str
binary: types.sequence[types.uint8] binary: types.sequence[types.uint8]

32
unitree_sdk2py/idl/unitree_api/msg/dds_/__init__.py
View File

@ -1,16 +1,16 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.10.2 Cyclone DDS IDL version: v0.10.2
Module: unitree_api.msg.dds_ Module: unitree_api.msg.dds_
""" """
from ._RequestHeader_ import RequestHeader_ from ._RequestHeader_ import RequestHeader_
from ._RequestIdentity_ import RequestIdentity_ from ._RequestIdentity_ import RequestIdentity_
from ._RequestLease_ import RequestLease_ from ._RequestLease_ import RequestLease_
from ._RequestPolicy_ import RequestPolicy_ from ._RequestPolicy_ import RequestPolicy_
from ._Request_ import Request_ from ._Request_ import Request_
from ._ResponseHeader_ import ResponseHeader_ from ._ResponseHeader_ import ResponseHeader_
from ._ResponseStatus_ import ResponseStatus_ from ._ResponseStatus_ import ResponseStatus_
from ._Response_ import Response_ from ._Response_ import Response_
__all__ = ["RequestHeader_", "RequestIdentity_", "RequestLease_", "RequestPolicy_", "Request_", "ResponseHeader_", "ResponseStatus_", "Response_", ] __all__ = ["RequestHeader_", "RequestIdentity_", "RequestLease_", "RequestPolicy_", "Request_", "ResponseHeader_", "ResponseStatus_", "Response_", ]

18
unitree_sdk2py/idl/unitree_go/__init__.py
View File

@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go Module: unitree_go
""" """
from . import msg from . import msg
__all__ = ["msg", ] __all__ = ["msg", ]

18
unitree_sdk2py/idl/unitree_go/msg/__init__.py
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@ -1,9 +1,9 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg Module: unitree_go.msg
""" """
from . import dds_ from . import dds_
__all__ = ["dds_", ] __all__ = ["dds_", ]

56
unitree_sdk2py/idl/unitree_go/msg/dds_/_AudioData_.py
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@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: AudioData_.idl IDL file: AudioData_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class AudioData_(idl.IdlStruct, typename="unitree_go.msg.dds_.AudioData_"): class AudioData_(idl.IdlStruct, typename="unitree_go.msg.dds_.AudioData_"):
time_frame: types.uint64 time_frame: types.uint64
data: types.sequence[types.uint8] data: types.sequence[types.uint8]

56
unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsCmd_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: BmsCmd_.idl IDL file: BmsCmd_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class BmsCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsCmd_"): class BmsCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsCmd_"):
off: types.uint8 off: types.uint8
reserve: types.array[types.uint8, 3] reserve: types.array[types.uint8, 3]

70
unitree_sdk2py/idl/unitree_go/msg/dds_/_BmsState_.py
View File

@ -1,35 +1,35 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: BmsState_.idl IDL file: BmsState_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class BmsState_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsState_"): class BmsState_(idl.IdlStruct, typename="unitree_go.msg.dds_.BmsState_"):
version_high: types.uint8 version_high: types.uint8
version_low: types.uint8 version_low: types.uint8
status: types.uint8 status: types.uint8
soc: types.uint8 soc: types.uint8
current: types.int32 current: types.int32
cycle: types.uint16 cycle: types.uint16
bq_ntc: types.array[types.uint8, 2] bq_ntc: types.array[types.uint8, 2]
mcu_ntc: types.array[types.uint8, 2] mcu_ntc: types.array[types.uint8, 2]
cell_vol: types.array[types.uint16, 15] cell_vol: types.array[types.uint16, 15]

56
unitree_sdk2py/idl/unitree_go/msg/dds_/_Error_.py
View File

@ -1,28 +1,28 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: Error_.idl IDL file: Error_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Error_(idl.IdlStruct, typename="unitree_go.msg.dds_.Error_"): class Error_(idl.IdlStruct, typename="unitree_go.msg.dds_.Error_"):
source: types.uint32 source: types.uint32
state: types.uint32 state: types.uint32

60
unitree_sdk2py/idl/unitree_go/msg/dds_/_Go2FrontVideoData_.py
View File

@ -1,30 +1,30 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: Go2FrontVideoData_.idl IDL file: Go2FrontVideoData_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class Go2FrontVideoData_(idl.IdlStruct, typename="unitree_go.msg.dds_.Go2FrontVideoData_"): class Go2FrontVideoData_(idl.IdlStruct, typename="unitree_go.msg.dds_.Go2FrontVideoData_"):
time_frame: types.uint64 time_frame: types.uint64
video720p: types.sequence[types.uint8] video720p: types.sequence[types.uint8]
video360p: types.sequence[types.uint8] video360p: types.sequence[types.uint8]
video180p: types.sequence[types.uint8] video180p: types.sequence[types.uint8]

66
unitree_sdk2py/idl/unitree_go/msg/dds_/_HeightMap_.py
View File

@ -1,33 +1,33 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: HeightMap_.idl IDL file: HeightMap_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class HeightMap_(idl.IdlStruct, typename="unitree_go.msg.dds_.HeightMap_"): class HeightMap_(idl.IdlStruct, typename="unitree_go.msg.dds_.HeightMap_"):
stamp: types.float64 stamp: types.float64
frame_id: str frame_id: str
resolution: types.float32 resolution: types.float32
width: types.uint32 width: types.uint32
height: types.uint32 height: types.uint32
origin: types.array[types.float32, 2] origin: types.array[types.float32, 2]
data: types.sequence[types.float32] data: types.sequence[types.float32]

62
unitree_sdk2py/idl/unitree_go/msg/dds_/_IMUState_.py
View File

@ -1,31 +1,31 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: IMUState_.idl IDL file: IMUState_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class IMUState_(idl.IdlStruct, typename="unitree_go.msg.dds_.IMUState_"): class IMUState_(idl.IdlStruct, typename="unitree_go.msg.dds_.IMUState_"):
quaternion: types.array[types.float32, 4] quaternion: types.array[types.float32, 4]
gyroscope: types.array[types.float32, 3] gyroscope: types.array[types.float32, 3]
accelerometer: types.array[types.float32, 3] accelerometer: types.array[types.float32, 3]
rpy: types.array[types.float32, 3] rpy: types.array[types.float32, 3]
temperature: types.uint8 temperature: types.uint8

58
unitree_sdk2py/idl/unitree_go/msg/dds_/_InterfaceConfig_.py
View File

@ -1,29 +1,29 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: InterfaceConfig_.idl IDL file: InterfaceConfig_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class InterfaceConfig_(idl.IdlStruct, typename="unitree_go.msg.dds_.InterfaceConfig_"): class InterfaceConfig_(idl.IdlStruct, typename="unitree_go.msg.dds_.InterfaceConfig_"):
mode: types.uint8 mode: types.uint8
value: types.uint8 value: types.uint8
reserve: types.array[types.uint8, 2] reserve: types.array[types.uint8, 2]

86
unitree_sdk2py/idl/unitree_go/msg/dds_/_LidarState_.py
View File

@ -1,43 +1,43 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: LidarState_.idl IDL file: LidarState_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class LidarState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LidarState_"): class LidarState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LidarState_"):
stamp: types.float64 stamp: types.float64
firmware_version: str firmware_version: str
software_version: str software_version: str
sdk_version: str sdk_version: str
sys_rotation_speed: types.float32 sys_rotation_speed: types.float32
com_rotation_speed: types.float32 com_rotation_speed: types.float32
error_state: types.uint8 error_state: types.uint8
cloud_frequency: types.float32 cloud_frequency: types.float32
cloud_packet_loss_rate: types.float32 cloud_packet_loss_rate: types.float32
cloud_size: types.uint32 cloud_size: types.uint32
cloud_scan_num: types.uint32 cloud_scan_num: types.uint32
imu_frequency: types.float32 imu_frequency: types.float32
imu_packet_loss_rate: types.float32 imu_packet_loss_rate: types.float32
imu_rpy: types.array[types.float32, 3] imu_rpy: types.array[types.float32, 3]
serial_recv_stamp: types.float64 serial_recv_stamp: types.float64
serial_buffer_size: types.uint32 serial_buffer_size: types.uint32
serial_buffer_read: types.uint32 serial_buffer_read: types.uint32

80
unitree_sdk2py/idl/unitree_go/msg/dds_/_LowCmd_.py
View File

@ -1,40 +1,40 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: LowCmd_.idl IDL file: LowCmd_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class LowCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowCmd_"): class LowCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowCmd_"):
head: types.array[types.uint8, 2] head: types.array[types.uint8, 2]
level_flag: types.uint8 level_flag: types.uint8
frame_reserve: types.uint8 frame_reserve: types.uint8
sn: types.array[types.uint32, 2] sn: types.array[types.uint32, 2]
version: types.array[types.uint32, 2] version: types.array[types.uint32, 2]
bandwidth: types.uint16 bandwidth: types.uint16
motor_cmd: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorCmd_', 20] motor_cmd: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorCmd_', 20]
bms_cmd: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsCmd_' bms_cmd: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsCmd_'
wireless_remote: types.array[types.uint8, 40] wireless_remote: types.array[types.uint8, 40]
led: types.array[types.uint8, 12] led: types.array[types.uint8, 12]
fan: types.array[types.uint8, 2] fan: types.array[types.uint8, 2]
gpio: types.uint8 gpio: types.uint8
reserve: types.uint32 reserve: types.uint32
crc: types.uint32 crc: types.uint32

96
unitree_sdk2py/idl/unitree_go/msg/dds_/_LowState_.py
View File

@ -1,48 +1,48 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: LowState_.idl IDL file: LowState_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class LowState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowState_"): class LowState_(idl.IdlStruct, typename="unitree_go.msg.dds_.LowState_"):
head: types.array[types.uint8, 2] head: types.array[types.uint8, 2]
level_flag: types.uint8 level_flag: types.uint8
frame_reserve: types.uint8 frame_reserve: types.uint8
sn: types.array[types.uint32, 2] sn: types.array[types.uint32, 2]
version: types.array[types.uint32, 2] version: types.array[types.uint32, 2]
bandwidth: types.uint16 bandwidth: types.uint16
imu_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.IMUState_' imu_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.IMUState_'
motor_state: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorState_', 20] motor_state: types.array['unitree_sdk2py.idl.unitree_go.msg.dds_.MotorState_', 20]
bms_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsState_' bms_state: 'unitree_sdk2py.idl.unitree_go.msg.dds_.BmsState_'
foot_force: types.array[types.int16, 4] foot_force: types.array[types.int16, 4]
foot_force_est: types.array[types.int16, 4] foot_force_est: types.array[types.int16, 4]
tick: types.uint32 tick: types.uint32
wireless_remote: types.array[types.uint8, 40] wireless_remote: types.array[types.uint8, 40]
bit_flag: types.uint8 bit_flag: types.uint8
adc_reel: types.float32 adc_reel: types.float32
temperature_ntc1: types.uint8 temperature_ntc1: types.uint8
temperature_ntc2: types.uint8 temperature_ntc2: types.uint8
power_v: types.float32 power_v: types.float32
power_a: types.float32 power_a: types.float32
fan_frequency: types.array[types.uint16, 4] fan_frequency: types.array[types.uint16, 4]
reserve: types.uint32 reserve: types.uint32
crc: types.uint32 crc: types.uint32

66
unitree_sdk2py/idl/unitree_go/msg/dds_/_MotorCmd_.py
View File

@ -1,33 +1,33 @@
""" """
Generated by Eclipse Cyclone DDS idlc Python Backend Generated by Eclipse Cyclone DDS idlc Python Backend
Cyclone DDS IDL version: v0.11.0 Cyclone DDS IDL version: v0.11.0
Module: unitree_go.msg.dds_ Module: unitree_go.msg.dds_
IDL file: MotorCmd_.idl IDL file: MotorCmd_.idl
""" """
from enum import auto from enum import auto
from typing import TYPE_CHECKING, Optional from typing import TYPE_CHECKING, Optional
from dataclasses import dataclass from dataclasses import dataclass
import cyclonedds.idl as idl import cyclonedds.idl as idl
import cyclonedds.idl.annotations as annotate import cyclonedds.idl.annotations as annotate
import cyclonedds.idl.types as types import cyclonedds.idl.types as types
# root module import for resolving types # root module import for resolving types
# import unitree_go # import unitree_go
@dataclass @dataclass
@annotate.final @annotate.final
@annotate.autoid("sequential") @annotate.autoid("sequential")
class MotorCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorCmd_"): class MotorCmd_(idl.IdlStruct, typename="unitree_go.msg.dds_.MotorCmd_"):
mode: types.uint8 mode: types.uint8
q: types.float32 q: types.float32
dq: types.float32 dq: types.float32
tau: types.float32 tau: types.float32
kp: types.float32 kp: types.float32
kd: types.float32 kd: types.float32
reserve: types.array[types.uint32, 3] reserve: types.array[types.uint32, 3]

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